Analysis of motion searching based on reliable predictability using recurrent neural network

Shun Nishide, Tetsuya Ogata, Jun Tani, Kazunori Komatani, Hiroshi G. Okuno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Reliable predictability is one of the main factors that determine human behaviors. The authors developed a model that searches and generates robot motions based on reliable predictability. Training of the model consists of three phases. In the first phase, the model trains a sequential learner, namely Recurrent Neural Network with Parametric Bias, to self-organize robot and object dynamics. In the second phase, Steepest Descent Method is utilized to search for robot motion that induces the most predictable object motion. In the third phase, a hierarchical neural network is trained to link object image with the searched motion. Experiments were conducted with cylindrical objects. Analysis of the results have shown that the robot has acquired the most reliable robot motion, shifting it according to the posture of the object. Twenty motion generation experiments have resulted in generation of robot motion that induces consistent rolling motion of the objects.

Original languageEnglish
Title of host publication2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Pages192-197
Number of pages6
DOIs
Publication statusPublished - 2009 Nov 4
Externally publishedYes
Event2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore
Duration: 2009 Jul 142009 Jul 17

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
CountrySingapore
CitySingapore
Period09/7/1409/7/17

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Nishide, S., Ogata, T., Tani, J., Komatani, K., & Okuno, H. G. (2009). Analysis of motion searching based on reliable predictability using recurrent neural network. In 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 (pp. 192-197). [5230015] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2009.5230015