最小有向情報に基づく柔軟ロボットの設計原理
Minimum directed information: A design principle for compliant robots
状態から制御への有向情報を最小化する反復手法を提案し、iLQGと組み合わせてロボットの剛性などの設計パラメータを最適化することで、様々なタスクでの性能を保ちつつ制御の複雑さとノイズ脆弱性を低減する。
著者: Kevin Haninger
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
A robot's dynamics -- especially the degree and location of compliance -- can significantly affect performance and control complexity. Passive dynamics can be designed with good regions of attraction or limit cycles for a specific task, but achieving flexibility on a range of tasks requires co-design of control. This paper takes an information perspective: the robot dynamics should reduce the amount of information required for a controller to achieve a threshold of performance in a range of tasks. Towards this goal, an iterative method is proposed to minimize the directed information from state to control on discrete-time nonlinear systems. iLQG is used to find a controller and value of information, then the design parameters of the dynamics (e.g. stiffness of end-effector or joint) are optimized to reduce directed information while maintaining a minimum bound on performance. The approach is validated in simulation, on a two-mass system in contact with an uncertain wall position and a high-DOF door opening task, and shown to improve noise robustness and reduce time variance of control gains.
