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

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルArtificial Neural Networks and Machine Learning, ICANN 2014 - 24th International Conference on Artificial Neural Networks, Proceedings
出版社Springer Verlag
ページ363-370
ページ数8
ISBN(印刷版)9783319111780
DOI
出版ステータスPublished - 2014
イベント24th International Conference on Artificial Neural Networks, ICANN 2014 - Hamburg, Germany
継続期間: 2014 9 152014 9 19

出版物シリーズ

名前Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
8681 LNCS
ISSN(印刷版)0302-9743
ISSN(電子版)1611-3349

Other

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

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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