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Biomorphic wheeled robot system with simulation learning mechanism and method

A robot system and learning mechanism technology, applied in the field of intelligent robots, can solve the problems of low learning efficiency of robots, reduce the learning time, overcome the cumbersome image processing, and overcome the cumbersome process of image processing.

Inactive Publication Date: 2014-06-25
BEIJING UNIV OF TECH
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Problems solved by technology

[0006] Aiming at the problems existing in the prior art that most actions are imitated learning, the data processing process after using the camera to collect images is cumbersome and the robot learning efficiency is low, the present invention proposes a bionic wheeled robot system and method with an imitation learning mechanism, through the robot A Teaching, robot B observes and imitates the teaching behavior, which greatly reduces the cost of the sensor, overcomes the cumbersome image processing problem caused by the use of camera technology to collect the teaching behavior, and improves the efficiency of robot imitation learning

Method used

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Embodiment Construction

[0034] The present invention will be further described below in conjunction with accompanying drawing.

[0035] figure 1 and figure 2 They are the structure diagrams of teaching robot A and imitation robot B respectively. The mechanical structures of robots A and B are roughly the same, mainly including a main robot skeleton composed of a flat plate and a bracket, two independent left drive wheels and right drive wheels, and a follower wheel. The three wheels all use rubber tires to increase the friction with the ground during motion, making it easy to make a variety of turning actions.

[0036] image 3 and Figure 4 The block diagrams of the control systems of robots A and B respectively. The composition of the control systems of robots A and B is basically the same, mainly including left and right DC motors, STM32 controllers and power modules, as well as ultrasonic sensors, photosensitive sensors, temperature sensors, and Hall sensors.

[0037] The STM32 controller ...

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Abstract

The invention relates to a biomorphic wheeled robot system with a simulation learning mechanism and a method. The system comprises a teaching robot A and a simulation robot B. When the robot system works, firstly, the teaching robot A demonstrates teaching behaviors, and then the simulation robot B observes and simulates the teaching behaviors of the robot A. A rotary device formed by assembling a rudder and an infrared sensor is carried on the simulation robot, and through a behavior capturing method of rotary detection, action information of scattered teaching observation points is collected and then used for instructing the simulation robot to simulate learn the teaching behaviors through a simulation and learning algorithm. The cost of sensors is greatly reduced, the defect that in the prior art, after a shooting technology is used for collecting the teaching behaviors, the process of image processing is tedious is overcome, simulation and learning efficiency of the robot is improved, and learning time of the robot is shortened.

Description

technical field [0001] The invention belongs to the field of intelligent robots, and relates to a bionic wheeled robot system and method with an imitation learning mechanism. Background technique [0002] Many skills or behaviors of humans or animals are gradually formed and developed during the cognitive process of their nervous system, understanding and simulating the inner cognitive mechanism of human or animal nervous system, and endowing this mechanism with machines or artificial life systems , is an important topic in cognitive science, as well as artificial intelligence and robotics research. Designing and manufacturing robotic systems with autonomy, intelligence and adaptability, and endowing artificial systems such as robots with the cognitive abilities of humans and animals, so that they can better serve humans, is one of the research hotspots of bionic robots. [0003] Many organisms exhibit phonotropic behavior (such as crickets), thermotropic behavior (such as ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/18B25J19/00B25J19/04
Inventor 于建均刘涛阮晓钢门玉森韩春晓徐骢驰于博
Owner BEIJING UNIV OF TECH
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