Motion generation based on reliable predictability using self-organized object features

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

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

Abstract

Predictability is an important factor for determining robot motions. This paper presents a model to generate robot motions based on reliable predictability evaluated through a dynamics learning model which self-organizes object features. The model is composed of a dynamics learning module, namely Recurrent Neural Network with Parametric Bias (RNNPB), and a hierarchical neural network as a feature extraction module. The model inputs raw object images and robot motions. Through bi-directional training of the two models, object features which describe the object motion are self-organized in the output of the hierarchical neural network, which is linked to the input of RNNPB. After training, the model searches for the robot motion with high reliable predictability of object motion. Experiments were performed with the robot's pushing motion with a variety of objects to generate sliding, falling over, bouncing, and rolling motions. For objects with single motion possibility, the robot tended to generate motions that induce the object motion. For objects with two motion possibilities, the robot evenly generated motions that induce the two object motions.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages3453-3458
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Externally publishedYes
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: 2010 Oct 182010 Oct 22

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Conference

Conference23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/10/1810/10/22

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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  • Cite this

    Nishide, S., Ogata, T., Tani, J., Takahashi, T., Komatani, K., & Okuno, H. G. (2010). Motion generation based on reliable predictability using self-organized object features. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 3453-3458). [5652609] (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5652609