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基于AOCA仿生学习模型的两轮机器人自主平衡学习研究

DOI: 10.3724/SP.J.1004.2014.01951, PP. 1951-1957

Keywords: 两轮机器人,自主平衡,仿生学,操作条件反射,自学习

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Abstract:

?以两轮机器人的自主平衡学习控制为研究对象,针对传统控制方法无法实现机器人类似人或动物的渐进学习过程,依据斯金纳的操作条件反射理论建立了一种自治操作条件反射自动机(Autonomousoperantconditioningautomaton,AOCA)模型,设计一种基于AOCA的仿生学习算法,并进行机器人姿态平衡学习实验仿真研究.实验结果表明,基于AOCA的仿生学习方法能有效地实现机器人的自主平衡学习控制,机器人系统的平衡能力在学习控制过程中自组织地渐进形成,并得以发展和完善.

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