Polynomial Design of Nonlinear Dynamics for Brain-Like Information Processing and Its Application to Humanoid Whole Body Motion

摘要

In this paper, we develop the dynamics-based information processing system that is a brain-like information processing based on dynamical phenomenon. A nonlinear dynamics is designed with the polynomial configuration so that it has attractors on the closed carved lines in the N dimensional space, which means memorization, reproduction and association of the time sequence data of the whole body motions. The motion transition of the humanoid robot is realized by the transition of the dynamics from one attractor to another. In this paper, we propose a design strategy of the system that generates the humanoid whole body motions using entrainment and detrainment phenomenon of the nonlinear dynamics with a motion reduction method based on the principal component analysis.