Tool-body assimilation model based on body babbling and neurodynamical system

Kuniyuki Takahashi*, Tetsuya Ogata, Hadi Tjandra, Yuki Yamaguchi, Shigeki Sugano

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

10 Citations (Scopus)


We propose the new method of tool use with a tool-body assimilation model based on body babbling and a neurodynamical system for robots to use tools. Almost all existing studies for robots to use tools require predetermined motions and tool features; the motion patterns are limited and the robots cannot use novel tools. Other studies fully search for all available parameters for novel tools, but this leads to massive amounts of calculations. To solve these problems, we took the following approach: we used a humanoid robot model to generate random motions based on human body babbling. These rich motion experiences were used to train recurrent and deep neural networks for modeling a body image. Tool features were self-organized in parametric bias, modulating the body image according to the tool in use. Finally, we designed a neural network for the robot to generate motion only from the target image. Experiments were conducted with multiple tools for manipulating a cylindrical target object. The results show that the tool-body assimilation model is capable of motion generation.

Original languageEnglish
Article number837540
JournalMathematical Problems in Engineering
Publication statusPublished - 2015 Feb 22

ASJC Scopus subject areas

  • Mathematics(all)
  • Engineering(all)


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