Tool-Use Model Considering Tool Selection by a Robot Using Deep Learning

Namiko Saito, Kitae Kim, Shingo Murata, Tetsuya Ogata, Shigeki Sugano

    研究成果: Conference contribution

    抜粋

    We propose a tool-use model that can select tools that require neither labeling nor modeling of the environment and actions. With this model, a robot can choose a tool by itself and perform the operation that matches a human command and the environmental situation. To realize this, we use deep learning to train sensory motor data recorded during tool selection and tool use as experienced by a robot. The experience includes two types of selection, namely according to function and according to size, thereby allowing the robot to handle both situations. For evaluation, the robot is required to generate motion either in an untrained situation or using an untrained tool. We confirm that the robot can choose and use a tool that is suitable for achieving the target task.

    元の言語English
    ホスト出版物のタイトル2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018
    出版者IEEE Computer Society
    ページ814-819
    ページ数6
    ISBN(電子版)9781538672839
    DOI
    出版物ステータスPublished - 2019 1 23
    イベント18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018 - Beijing, China
    継続期間: 2018 11 62018 11 9

    出版物シリーズ

    名前IEEE-RAS International Conference on Humanoid Robots
    2018-November
    ISSN(印刷物)2164-0572
    ISSN(電子版)2164-0580

    Conference

    Conference18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018
    China
    Beijing
    期間18/11/618/11/9

      フィンガープリント

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Vision and Pattern Recognition
    • Hardware and Architecture
    • Human-Computer Interaction
    • Electrical and Electronic Engineering

    これを引用

    Saito, N., Kim, K., Murata, S., Ogata, T., & Sugano, S. (2019). Tool-Use Model Considering Tool Selection by a Robot Using Deep Learning. : 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018 (pp. 814-819). [8625048] (IEEE-RAS International Conference on Humanoid Robots; 巻数 2018-November). IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2018.8625048