简介: |
The humanoid robot becomes more and more popular with the expectation that it can serve human being in the coming aged society. Among various functions of humanoid robots, the locomotion is the most fundamental and difficult task. All the existing humanoid robots can walk biped, subject to completely prepared and known environments. Slight unexpected environmental disturbances easily lead to the collapse of walking. In order to serve human being, it must walk and work in unknown environment, which is a big challenge.
We constructed a biped robot whose control systems work in a totally different way from conventional one that relies on fine mechanisms and its precise models that are essential for control. The control scheme essentially resembles the brain in the sense that it uses reflections installed a priori in the body structure and self-organization which is essentially due to Hebb’s law. It learns the consistency of its behaviors with environment, but not through errors between the desired and actual behaviors, but through autonomous mechanism of self-preservation of each neuron. We call this sort of control model compound control. We demonstrate several successful tasks of this robot showing the fundamental difference of this robot from conventional ones. The future perspective of this brain-type robot is discussed.
报告人简历：
Professor Kimura got the degrees of Bachelor, Master and Doctors from the University of Tokyo in 1965, 1967 and 1970, respectively. He joined the Department of Control Engineering at Osaka University in 1970 where he was engaged in research and education of control theory and its applications for 17 years. Meantime, he stayed in UK during academic years 1974-75 as a scholar of British Council. In 1986, he moved to the department of mechanical engineering for computer-
controlled machinery and then joined the Graduate School of the University of Tokyo in 1995. He stayed at Delft University of Science and Technology as a guest professor in 1994 and at the University of California at Berkeley as a Springer Professor in 1995. In 2004, he retired the University of Tokyo and joined the Institute of Physical and Chemical Research where he is working as a team leader of Biological Control Systems Laboratory.
He is now a Council Member of IFAC representing Japan (International Federation of Automatic Control), a Managing Editor of Asian Journal of Control, an associate member of Scientific Council of Japan, and the President of Asian Control Association. He was the President of SICE (the Society of Instrument and Control Engineers, Japan) and a General Chair of MTNS 1991 (Mathematical Theory of Networks and Systems) and CDC 1996 (Conference on Decision and Control).
He is a Fellow of SICE and IEEE. He was awarded SICE paper awards four times, IFAC Paper Prize twice and George Axelby Award of IEEE Transactions on Automatic Control in 1984.
His current research interest is in biological control.
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