Tool-body assimilation model based on body babbling and a neuro-dynamical system for motion generation

Kuniyuki Takahashi, Tetsuya Ogata, Hadi Tjandra, Shingo Murata, Hiroaki Arie, Shigeki Sugano

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

    2 Citations (Scopus)

    Abstract

    We propose a model for robots to use tools without predetermined parameters based on a human cognitive model. Almost all existing studies of robot using tool require predetermined motions and tool features, so the motion patterns are limited and the robots cannot use new tools. Other studies use a full search for new tools; however, this entails an enormous number of calculations. We built a model for tool use based on the phenomenon of tool-body assimilation using the following approach: We used a humanoid robot model to generate random motion, based on human body babbling. These rich motion experiences were then used to train a recurrent neural network for modeling a body image. Tool features were self-organized in the parametric bias modulating the body image according to the used tool. Finally, we designed the neural network for the robot to generate motion only from the target image.

    Original languageEnglish
    Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
    PublisherSpringer Verlag
    Pages363-370
    Number of pages8
    Volume8681 LNCS
    ISBN (Print)9783319111780
    DOIs
    Publication statusPublished - 2014
    Event24th International Conference on Artificial Neural Networks, ICANN 2014 - Hamburg, Germany
    Duration: 2014 Sep 152014 Sep 19

    Publication series

    NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
    Volume8681 LNCS
    ISSN (Print)03029743
    ISSN (Electronic)16113349

    Other

    Other24th International Conference on Artificial Neural Networks, ICANN 2014
    CountryGermany
    CityHamburg
    Period14/9/1514/9/19

    Keywords

    • multiple time-scales recurrent neural network
    • tool-body assimilation

    ASJC Scopus subject areas

    • Computer Science(all)
    • Theoretical Computer Science

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  • Cite this

    Takahashi, K., Ogata, T., Tjandra, H., Murata, S., Arie, H., & Sugano, S. (2014). Tool-body assimilation model based on body babbling and a neuro-dynamical system for motion generation. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 8681 LNCS, pp. 363-370). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 8681 LNCS). Springer Verlag. https://doi.org/10.1007/978-3-319-11179-7_46