Motion intelligence to adapt for changing of its body conditions of mobile manipulator to utilize dynamical interferences

We propose a method to acquire a kind of motion intelligence to utilize dynamically interfered motion. The motion intelligence is defined here as an ability that the machine can find by itself a way to use dynamical interferences and nonlinear friction to obtain a desired motion. We propose a strategy how a machine uses effects of the dynamical interferences and how it acquires the way to achieve an objective motion. The desired motion is traveling of a 1-link mobile manipulator by using interfering motion of the mounted link, which does not possess driving motors or brakes. In this paper, new motion intelligence is given to the mobile manipulator by making mounted manipulator search the effective motion to use dynamical interferences during continuous motion in time domain. The objective is to make the mobile manipulator travel by the swinging motion of the mounted manipulator in spite of sudden changing the body condition and the shape of road surface. We confirmed that the proposed method could give the 1-link mobile manipulator a real-time motion intelligence, that is, it can find how to adapt sudden changing of the shape of the mounted link in continuous motion trials by real experiment.