知能ロボットによる模倣の構成論的研究

研究課題番号：13GS0006

2005年度 研究成果報告書概要

代表者

    • 佐藤 知正
    • TOMOMASA, Sato
    • 研究者番号：50235371
    • 東京大学・大学院・情報理工学系研究科・教授

研究課題基本情報

  • 研究期間

    2001年度〜2005年度

  • 研究分野

  • 審査区分

  • 研究種目

    学術創成研究費

  • 研究機関

    東京大学

  • 配分額

    • 2002年度：104000千円 (直接経費：104000千円)
    • 2003年度：104000千円 (直接経費：80000千円, 間接経費：24000千円)
    • 2004年度：97240千円 (直接経費：74800千円, 間接経費：22440千円)
    • 2005年度：84500千円 (直接経費：65000千円, 間接経費：19500千円)

研究分担者

    • 稲葉 雅幸
    • 研究者番号：50184726
    • 東京大学・大学院・情報理工学系研究科・教授
    • 國吉 康夫
    • 研究者番号：10333444
    • 東京大学・大学院・情報学環・教授
    • 田所 諭
    • 研究者番号：40171730
    • 東北大学・大学院・情報科学研究科・教授
    • 森 武俊
    • 研究者番号：20272586
    • 東京大学・大学院・情報学環・助教授
    • 稲邑 哲也
    • 研究者番号：20361545
    • 東京大学・大学院・情報理工学系研究科・講師

研究概要

模倣機能に関して、以下の成果を得た。

(1)行動観察・認識システム:マルチセンサ型人間日常生活行動計測システムとその統一的計測データ管理機構を実現した。さらに、大量の人間観察データからの統計的機械学習による時系列解析モデルに基づく典型行動パターンの抽出手法や、動作の識別や予測における人間の定性的な事前知識の組み込みが容易でかつ結果として推定精度を向上させうる解析手法を構築した。

(2)行動生成・修正システム:複雑な身体を持つヒューマノイドロボット自身が試行を繰り返して実現する行動修正法と、ヒューマノイドの複雑な動作を人間がその場の状況に応じて容易に教示する行動修正システムを構築した。さらに行動プランナと空間プランナを統合、それらを並列かつ相互依存的に実行する模倣システムを実現した。

(3)人間の模倣機能解明とモデル:認知心理学で「真の模倣」、「擬似模倣」として別個に扱われて来た模倣様の行動を統合し、模倣に関連する認知機能要素や脳機能と対応づけた、模倣の統合的機能マップを構築した。また、全身動作の模倣に関する身体性の情報構造理論や大域動力学構造モデル、認識・行動・概念形成・文脈処理などの脳機能に基づく行為文脈の自己組織学習と認識のニューラルネットワーク計算モデル、さらに模倣能力の創発・学習・発達モデル、を構築し実験的に検証した。

(4)行動模倣学習システム:生活支援ルーム型行動模倣学習システムを実現し、同じ目的に対して複数の手法がある場合でも、それらを学習し、状況に合わせて選択することで人間と同様の効果をもつ作業実行が可能なことを実証するとともに、等身大ヒューマノイド行動模倣統合システムを構築し、道具の形状とその柔軟な利用方法の獲得や道具利用による対象物体変形からの道具使用の意味理解ができることを実証、ロボティクスによる人の行動・作業の目的レベルでの模倣の実現可能性を示した。

発表文献

雑誌論文

  • T.Mori, K.Tsujioka and T.Sato: "Human-Like Action Recognition System on Whole Body Motion-Captured File" Proc.of the 2001 IEEE/RSJ Intl.Conf.on Intelligent Robots and Systems(IROS'01). 2066-2073 (2001)

  • T.Mori, H.Noguchi and T.Sato: "Construction of Sensor Network System for Human Behavior Measurement and Accumulation via DistriUuted Objects" Proc.of SPIE vol.4571. 230-237 (2001),

  • K.Okada, S.Kagami, M.Inaba and H.Inoue: "Walking Human Avoidance and Detection from a Mobile Robot Using 3D Depth Flow" Proc.of the 2001 IEEE Intl.Conf.on Robotics and Automation(ICRA'01). 2307-2312 (2001),

  • K.Okada, S.Kagami, M.Inaba and H.Inoue: "Plane Segment Finder:Algorithm" Proc.ICRA'Ol. 2120-2125 (2001)

  • F.Kanehiro, M.Inaba, H.Inoue, H.Hirukawa and S.Hirai: "Developmental Software Environment That is Applicable to Small-Size Humanoids and Life-size Humanoids" Proc.IROS'01. 4084-4089 (2001)

  • S.Kagami, K.Nishiwaki, T.Sugihara, J.J.Kuffner, M.Inaba and H.Inoue: "Design and Implementation of Software Research Platform for Humanoid Robotics H6" Proc.ICRA'01. 2431-2436 (2001)

  • I.Mizuuchi, M.Inaba and H.Inoue: "A Flexible Spine Human-Form Robot-Development and Control of the Posture of the Spine" Proc.IROS'01. 2099-2104 (2001),

  • Y.Kuniyoshi, G.Cheng and A.Nagakubo: "ETL-Humanoid:A Research Vehicle for Open-Ended Action Imitation" Proc.of the 10th Intl.Symposium of Robotics Research(ISRR2001) vol.1. 42-49 (2001),

  • M.Asada, K.F.MacDorman, H.Ishiguro and Y.Kuniyoshi: "Cognitive Developmental Robotics as a New Paradigm for the Design of Humanoid Robots" Robotics and Autonomous Systems vol.37,issues2-3. 185-193 (2001),

  • G.Cheng, A.Nagakubo and Y.Kuniyoshi: "Continuous Humanoid Interaction:An Integrated Perspective Gaining Adaptivity,Redundancy,Flexibility In One" Robotics and Autonomous Systems vol.37,issues2-3. 163-183 (2001),

  • T.Yamamoto and Y.Kuniyoshi: "Harnessing the Robot's Body Dynamics:a Global Dynamics Approach" Proc.IROS'01. 518-525 (2001),

  • A.Nagakubo, Y.Kuniyoshi and G.Cheng: "ETL-Humanoid A High-Performance Full Body Humanoid System for Versatile Actions" Proc.IROS'01. 1087-1092 (2001),

  • M.Konyo, S.Tadokoro, T.Takamori and K.Oguro: "EAP Application to Artificial Tactile Feel Display of Virtual Reality" Proc.of SPIE vol.4329. 28-42 (2001),

  • 昆陽 雅司, 田所 諭, 高森 年, 小黒 啓介, 徳田 献一: "高分子ゲルアクチュエータを用いた布の手触り感覚を提示する触感ディスプレイ" 日本バーチャルリアリティ学会論文誌 vol.6,no.4. 323-328 (2001),

  • H.Noguchi, T.Mori and T.Sato: "Construction of Accumulation System for Human Behavior Information in Room" Proc.of the 2002 IEEE/RSJ Intl.Conf.on Intelligent Robots and Systems(IROS'02). 1252-1258 (2002)

  • T.Mori, K.Tsujioka, M.Shimosaka and T.Sato: "Human Like Action Recognition System Using Features Extracted by Human" Proc.IROS'02. 1214-1220 (2002),

  • K.Nishiwaki, S.Kagami, J.J.Kuffner, K.Okada, Y.Kuniyoshi, M.Inaba and H.Inoue: "Online Humanoid Locomotion Control by Using 3D Vision Information" Proc.of the 8th Intl.Symposium on Experimental Robotics(ISER'02). (2002)

  • K.Okada, Y.Kino, F.Kanehiro, Y.Kuniyoshi, M.Inaba and H.Inoue: "Rapid Development System for Humanoid Vision-Based Behaviors with Real-Virtual Common Interface" Proc.IROS'02. 2515-2520 (2002)

  • I.Mizuuchi, R.Tajima, T.Yoshikai, D.Sato, K.Nagashima, M.Inaba, Y.Kuniyoshi and H.Inoue: "The Design and Control of the Flexible Spine of a Fully Tendon-Driven Humanoid"Kenta"" Pioc.IROS'02. 2527-2532 (2002)

  • T.Yamamoto and Y.Kuniyoshi: "Stability and Controllability in a Rising Motion:A GIobal Dynamics Approach" Proc.IROS'02. 2467-2472 (2002)

  • M.Konyo, S.Tadokoro, M.Hira and T.Takamori: "Quantitative Evaluation of Artificial Tactile Feel Display Integrated with Visual Information" Proc.IROS'02. 3060-3065 (2002),

  • A.Nagakubo, Y.Kuniyoshi and G.Cheng: "The ETL-Humanoid System A High-Performance Full Body Humanoid System for Versatile Real World Interaction" Advanced Robotics vol.17,no.2. 149-164 (2003)

  • Y.Kuniyoshi and M.Shimozaki: "A Self Organizing Neural Model for Context Based Action Recognition" Proc.of the 1st Intl.IEEE EMBS Conf.on Neural Engineering. 442-445 (2003)

  • T.Sato, Y.Genda, H.Kubotera, T.Mori and T.Harada: "Robot Imitation of Human Motion based on Qualitative Description from Multiple Measurement of Human and Environmental Data" Proc. of the 2003 Intl. Conf.on Intelligent Robots and Systems(IROS'03). 2377-2384 (2003)

  • T.Harada, H.Uchino, T.Sato and T.Mori: "Portable Orientation Estimation Device Based on Accelerometers,Magnetometers and Gyroscope Sensors for Sensor Network" Proc.of the 2003 IEEE Intl.Conf.on Multisensor Fusion and Integration for Intelligent Systems(MFI2003). 191-196 (2003)

  • Y.Kuniyoshi, Y.Yorozu, M.Inaba and H.Inoue: "From Visuo-Motor Self Learning to Early Imitation A Neural Architecture for Humanoid Learning. Proc.of the2003 Intl" Conf on Robotics and Automation(ICRA'03). 3132-3139 (2003),

  • K.Terada, Y.Ohmura and Y.Kuniyoshi: "Analysis and Control of Whole Body Dynamic Humanoid Motion Experiments on a Roll-and-Rise Motion" Proc.IROS'03. 1382-1387 (2003),

  • M.Shimozaki and Y.Kuniyoshi: "Integration of Spatial and Temporal Contexts for Action Recognition by self Organizing Neural Networks" Proc.IROS'03. 2385-2391 (2003),

  • Y.Ohmura, K.Terada and Y.Kuniyoshi: "Analysis and Control of Whole Body Dynamic Humanoid Motion Experiments on a Roll-and-Rise Motion" Proc.of the 3rd IEEE/RAS Intl, Conf.on Humanoid Rcbotics(Humanoids2003). (CD-ROM) (2003)

  • 國吉 康夫: "ロボットの知能-創発実体主義の挑戦-" 計測と制御 vol.42,no.6. 497-503 (2003),

  • K.Tokuda, T.Toda, Y, Koji, M.Konyo, S.Tadokoro and P.Alain: "Estimation of Fragile Ground by Foot Pressure Sensor of Legged Robot" Proc.of the 2003 IEEE/ASME Intl.Conf.on Advanced Intelligent Mechatronics(AIM2003). 447-453 (2003)

  • Y.Koji, S.Tadokoro, T.Toda, A.Pujol, K.Tokuda, M.Konyo and T.Takamori: "Flat-Distributed Network Architecture(FDNet)for Rescue Robots" Proc.IROS'03. 2392-2397 (2003)

  • M.Shimosaka, T.Mori, T.Harada and T.Sato: "Recognition of Human Daily Life Action and Its Performance Adjustment Based on Support Vector Learning" Proc.Humanoids2003. (2003)

  • T.Sato, S.Itoh, S.Otani, T.Harada and T.Mori: "Human Behavior Logging Support System Utilizing Pose/Position Sensors and Behavior Target Sensors" Proc.IROS'03. 1068-1073 (2003)

  • M.Inaba, I.Mizuuchi, R.Tajima, T.Yoshikai, K.Nagashima and H.Inoue: "Building Spined Muscle Tendon Humanoid" Proc.10th Intl.Symposium of Roboties Research. 113-130 (2003)

  • T.Mori, M.Shimosaka and T.Sato: "SVM-Based Human Action Recognition and Its RemarkableMotion Features Discovery Algorithm" Proc.of the 9th Intl.Symposium on Experimental Robotics(ISER2004) (CD-ROM). 0lpaper129 (2004)

  • T.Harada, T.Nagai, T.Mori and T.Sato: "Realization of Bluetooth-Equipped Module for Wireless Sensor NeCwork" 1st Intl.Workshop on Networked Sensing Systems(INSS2004). 24-27 (2004)

  • T.Mori, M.Shimosaka, T.Harada and T.Sato: "Informative Motion Extractor for Action Recognition with Kernel Feature Alignment" Proc.of the 2004 Intl.Conf.on Intelligent Robots and Systems(IROS'04). 2009-2014 (2004),

  • T.Sato, T.Harada and T.Mori: "Environment Type Robot System"Robotic Room"Featured by Behavior Media,Behavior Contents,and Behavior Adaptation" IEEE/ASME Trans.on Mechatronics vol.9,issue3. 529-534 (2004),

  • T.Mori, M.Shimosaka, T.Harada and T.Sato: "Recognition of Actions in Daily Life and Its Performance Adjustment Based on Support Vector Learning" International Journal of Humanoid Robotics vol.1 issue4. 565-583 (2004)

  • Y.Kuniyoshi, Y.Ohmura, K.Terada, A.Nagakubo, S.Eitoku and T.Yamamoto: "Embodied Basis of Invariant Features in Execution and Perception of Whole Body Dynamic Actions … Knacks and Focuses of Roll-and-Rise Motion" Robotics and Autonomous Systems vol.48,issue4. 189-201 (2004),

  • Y.Kuniyoshi, Y.Ohmura, K.Terada and A.Nagakubo: "Dynamic Roll-And-Rise Motion by an Adult-Size-Humanoid Robot" International Journal of Humanoid Robotics vol.1,no.3. 497-516 (2004)

  • T.Harada, H.Uchino, T.Mori and T.Sato: "Portable Absolute Orientation Estimation Device with Wireless Network under Accelerated Situation" Proc.of the 2004 IEEE Intl, Conf.on Robotics and Automation(ICRA'04). 1412-1417 (2004)

  • T.Mori, Y.Segawa, M.Shimosaka and T.Sato: "Hierarchical Recognition of Daily Human Actions Based on Continuous Hidden Markov Models" Proc.of the 6th IEEE Intl.Conf.on Automatic Face and Gesture Recognition(FGR'04). 779-784 (2004)

  • T.Sato, H.Kubotera, T.Harada and T.Mori: "Primitive-Based Recognition of Object-Handling Motion" Proc.of the 2nd Intl.Workshop on Advances in Service Robotics(ASER2004). 45-50 (2004)

  • T.Mori, H.Noguchi, A.Takada and T.Sato: "Sensing Room Distributed Sensor Environment for Measurement of Human Daily Behavior" Proc.INSS2004. 40-43 (2004)

  • T.Sato, Y.Kuniyoshi, M.Inaba and S.Tadokoro: "Overview of Synthetic Study of Imitation on Human and Intelligent Robot" International Workshop on Rohotics Imitation. 1-8 (2004)

  • T.Harada, T.Mori and T.Sato: "Human Posture Probability Density Estimation Based on Actual Motion Measurement and Eigenpostures" Proc.of the 2004 IEEE Intl.Conf.on System, Man and Cybernetics(SMC'04). 1595-1600 (2004)

  • M.Shimosaka, T.Mori, T.Harada and T.Sato: "Action Recognition Based on Kernel Machine Encoding Qualitative Prior Knowledge" Proc.SMC'04. 1569-1576 (2004),

  • T.Harada, S.Taoka T.Mori and T.Sato: "Quantitative Evaluation Method for Pose and Motion Similarity Based on Human Perception" Proc.of the 4th IEEE/RAS Intl.Conf.on Humanoid Robots(Humanoids2004). 494-512 (2004),

  • T.Inamura, M.Inaba and H.Inoue: "PEXIS:Probabilistic Experience representation Based Adaptive Interaction System for Personal Robots" Systems and Computers in Japan vol.35 no.6. 98-109 (2004),

  • I.Mizuuchi, Y.Nakanishi, T.Yoshikai, M.Inaba and H.Inoue: "Body Information Acquisition System of Redundant Musculo Skeletal Humanoid" Proc.ISER 2004. paper164 (2004)

  • T.Inamura, M.Inaba and H.Inoue: "Dialogue Control for Task Achievement Based on Evaluation of Situational Vagueness and Stochastic Representation of Experience" Proc.IROS'04. 2861-2866 (2004),

  • I.Mizuuchi, H.Waita, Y.Nakanishi, T.Yoshikai, M.Inaba and H.Inoue: "Design and Implementation of Reinforceable Muscle Humanoid" Proc.IROS'04. 828-833 (2004)

  • K.Okada, A.Haneda, H.Nakai, M.Inaba and H.Inoue: "Environment Manipulation Planner for Humanoid Rohots Using Task Graph That Generates Action Sequence" Proc.IROS'04. 1174-1179 (2004)

  • T.Yoshikai, N.Otake, I.Mizuuchi, M.Inaba and H.Inoue: "Development of an Imitation Behavior in Humanoid Kenta with Reinforcement Learning Algorithm Based on the Attention during Imitation" Proc.IROS'04. 1192-1197 (2004)

  • Y.Fukumoto, K.Nishiwaki, M.Inaba and H.Inoue: "Hand Centered Whole Body Motion Control for a Humanoid Robot" Proc.IROS'04. 1186-1191 (2004),

  • Y.Ohkubo, K.Okada, T.Morishita M.Inaba and H.Inoue: "Portable Situation Reporting System by a Palmtop Humanoid Robot for Daily Life" Proc.IROS'04. 3553-3558 (2004)

  • M.Hayashi, T.Inamura, M.Inaba and H.Inoue: "Acquisition of Behavior Modifier Based on Geometric Proto-Symbol Manippulation and Its Application to Motion Generation" Proc.IROS'04. 2023-2041 (2004)

  • S.Kanzaki, Y.Fukuoto, K.Nishiwaki, T.Inamura and M.Inaba: "Development of Wearable Controller with Gloves and Voice Interface for Humanoids,Whole-Body Motion Generation" Proc.of the Int1.Conf.on Machine Automation 2004(ICMA2004). 297-302 (2004)

  • A.Haneda, K.Okada, H.Nakai, T.Inamura, M.Tnaba and H.Inoue: "Humanoid Navigation System with Replanning Control of Mavipulating Movable Obstacles" Proc.ICMA2004. 291-296 (2004)

  • K.Okada, T.Ogura, A.Haneda, D.Kousaka, H.Nakai, M.Inaba and H.Inoue: "Integrated System Software for HRP2 Humanoid" Proc.ICRA'04. 3207-3212 (2004)

  • Y.Kuniyoshi and S.Suzuki: "Dynamic Emergence and Adaptation of Behavior through Embodiment as Coupled Chaotic Field" Proc.IROS'04. 2042-2049 (2004),

  • S.Yonekura and Y.Kuniyoshi: "Emergence of Multiple Sensory-Motor Response Patterns from Cooperating Bursting Neurons" Proc.IROS'04. 1377-1382 (2004),

  • R.Fukano, Y.Kuniyoshi, T.Kobayashi, T.Otani and N.Otsu: "Statistical Manipulation Learning of Unknown Objects by a Multi-Fingered Robot Hand" Proc.Humanoids2004. 726-740 (2004),

  • K.Tokuda, J.Jadoulle, N.Lambot A.Youssef., Y.Koji and S.Tadokoro: "Dynamic Robot Programming by FDNet:Design of FDNet Programming Environment" Proc.IROS'04. 780-785 (2004)

  • T.Mori, H.Noguchi and T.Sato: "Daily Life Experience Reservoir and Epitomization with Sensing Room" 2005 IEEE International Conference on Robotics and Automation Workshop on Network Robot Systems:Toward Intelligent Robotic Systems Integrated with Environments. 1-14 (2005)

  • T.Harada, T.Sato and T.Mori: "Development of Tiny Orientation Estimation Device under Motion and Magnetic Disturbance" Proc of the 2005 IEEE Intl.Conf.on Robotics and Automation 2nd Workshop on Integration of Vision and Inertial Sensors(InerVis2005). 1-6 (2005)

  • T.Harada, Y, Kawano, S.Otani, T.Mori and T.Sato: "Realization of Portable Radio Device and Ad Hoc Wireless Network for Lifelog Based Physical and Informational Support System" Proc.of 2nd Intl, Workshop on Networked Sensing Systems(INSS2005). 6-11 (2005)

  • T.Mori, Y.Nejigane, M.Shimosaka, Y.Segawa, T.Harada and T.Sato: "Online Recognition and Segmentation for Time Series Motion with HMM and Conceptual Relation of Actions" Proc.IROS'05. 2568-2574 (2005)

  • 森 武俊, 瀬川 友史, 下坂 正倫, 佐藤 知正: "隠れマルコフモデルと動作の階層構造の木表現による日常動作認識" 日本ロボット学会誌 vol.23,no.8. 957-966 (2005)

  • T.Harada, T.Mori and T.Sato: "Human Posture Probability Density Estimation Based on Actual Motion Measurement and Eigenpostures" Journal of Robotics and Mechatronics vol.17,no.6. 664-671 (2005)

  • 森 武俊: "センシングルームによる環境型人間計測・支援" 日本機械学会誌(解説論文) vol.109,no.1048. 192-193 (2005),

  • T.Mori, M.Shimosaka, T.Harada and T.Sato: "Time-Series Human Motion Analysis with Kernels Derived from Learned Switching Linear Dynamics" 人工知能学会論文誌 vol.20,no.3(SP-C). 197-208 (2005),

  • 森 武俊, 野口 博史, 佐藤 知正: "センシングルーム-部屋型日常行動計測蓄積環境第2世代ロボティックルーム" 日本ロボット学会誌 vol.23,no.6. 25-29 (2005)

  • 原田 達也, 伊藤 覚, 森 武俊, 佐藤 知正: "室内三次元位置計測のためのSS無線と高精度時間計測LSIを用いた距離計測デバイスの開発" 日本ロボット学会誌 vol.23,no.4. 114-123 (2005)

  • T.Mori, A.Takada, H.Noguchi, T.Harada and T.Sato: "Behavior Prediction Based on Daily-Life Record Database in Distributed Sensing Space" Proc.IROS'05. 1833-1839 (2005)

  • T.Harada, Y.Kawano, S.Otani, T.Mori and T.Sato: "Construction of Wireless Ad Hoc Network for Lifelog Based Physical & Informational Support System" Proc.IROS'05. 89-95 (2005)

  • T.Harada, T.Sato and T.Mori: "Human Posture Reconstruction Based on Posture Probability Density" Proc.IROS'05. 2856-2863 (2005)

  • T.Mori, A.Takada, H.Noguchi and T.Sato: "Behavior Prediction System Based on Environmental Sensor Records" Proc.INSS2005. 197-202 (2005)

  • M.Shimosaka, T.Mori, T.Harada and T.Sato: "Marginalized Bags of Vectors Kernels on Switching Linear Dynamics for Online Action Reeognition" Proc.of the 2005 IEEE Intl.Conf.on Robotics and Automation(ICRA'05). 3083-3088 (2005)

  • T.Inamura, M.Inaba and H.Inoue: "A Dialogue Control Model Based on Ambiguity Evaluation of Users'Instructions and Stochastic Representation of Experiences" Journal of Robotics and Mechatronics vol.17,no.6. 697-704 (2005)

  • K.Okada, M.Inaba and H.Inoue: "Real-Time and Precise Self Collision Detection System for Humanoid Robots" Proc.ICRA'05. 1072-1077 (2005)

  • K.Okada, T.Ogura, A.Haneda, J.Fujimoto, F.Gravot and M.Inaba: "Humanoid Motion Generation System on HRP2-JSK for Daily Life Environment" Proc.of the 2005 Intl.Conf.on Mechatronics and Automation(ICMA'05). 1772-1777 (2005),

  • T.Ogura, A.Haneda, K.Okada and M.Inaba: "On-Site Humanoid Navigation through Hand-in-Hand Interface" Proc.of the 5th IEEE/RAS Intl, Conf.on Humanoid Robots(Humanoids2005). 175-180 (2005)

  • T.Yoshikai, I.Mizuuchi and M.Inaba: "A Humanoid Behavior Modification System by Monitoring and Evaluating Causality between Sensors and Actions" Proc.Humanoids2005. 202-207 (2005)

  • S.Kanzaki, K.Okada and M.Inaba: "Bracing Behavior in Humanoid through Preview Control of lmpact Disturbance" Proc.Humanoids2005. 301-306 (2005)

  • T.Inamura, N.Kojo, T.Sonoda, K.Sakamoto, K.Okada and M.Inaba: "Intent Imitation Using Wearable Motion Capturing System with On-Line Teaching of Task Attention" Proc.Humanoids2005. 469-474 (2005)

  • Y.Kuniyoushi, R.Fukano, T.Otani, T.Kobayashi and N.Otsu: "Haptic Detection of Object Affordances by a Multi-Fingered Robot Hand" International Journal of Humanoid Robotics vol.2,no.4. 415-436 (2005)

  • A.Pitti, M.Lungarella and Y.Kuniyoshi: "Quantification of Emergent Behaviors Induced by Feedback Resonance of Chaos" Recent Advances in Artificial Life:Advances in Natural Computation vol.2,no.4. 199-213 (2005)

  • R.Fukano, Y.Kuniyoshi, T.Otani, T.Kobayashi and N.Otsu: "Acquisition of Unknown 0bject Property for Manipulation by a Compliant Multi-Fingered Hand" Journal of Robotics and Mechatronics vol.17,no.6. 645-654 (2005)

  • 國吉 康夫: "ロボット模倣の創発・発達的構成論にむけて" バイオメカニズム学会誌 vol.29,no.1. 20-25 (2005)

  • K.Ishiguro, N.Otsu and Y.Kuniyoshi: "Inter-Modal Learning and Object Concept Acquisition" Proc.of IAPR Conference on Machine Vision Applications(MVA2005). 148-151 (2005)

  • C.Nabeshima, M.Lungarella and Y.Kuniyoshi: "Timing-Based Model of Body Schema Adaptation and Its Role in Perception and Tool Use:A Robot Case Study" Proc.of the 4th IEEE Intl.Conf.on Development and Learning(ICDL'05). 7-12 (2005)

  • S.Yonekura, M.Lungarella and Y.Kuniyoshi: "Fear-Like Response Induced by Intentional Gap betweenNeural and Bod-Environment Dynamics" Proc.ICDL'05. 31-36 (2005)

  • Y.Nakanishi, I.Mizuuchi, T.Yoshikai, T.Inamura and M.Inaba: "Tendon Arrangement Based on Joint Torque Requirements for a Reinforceable Musculo-Skeletal Humanoid" Proc.IAS-9. 786-793 (2006)

  • R.Adachi, S.Kanzaki, K.Okada and M.Inaba: "Load Distributed Whole-Body Motion Generation Method for Humanoids by Minimizing Average Joint Torque Ratio" Proc.IAS-9. 804-811 (2006)

  • N.Kojo, T.Inamura and M.Inaba: "Behavior Induction by Geometric Relation between Symbols of Multi-Sensory Pattem" Proc.IAS-9. 875-882 (2006)

  • T.Inamura, K.Okada, M.Inaba and H.Inoue: "HRP-2W:A Humanoid Platform for Research on Support Behavior in Daily life Environments" Proc.of the 9th Intl.Conf.on Intelligent Autonomous Systems(IAS-9). 732-739 (2006)

  • T.Yoshikai, Y.Nakanish, I.Mizuuchi and M.Inaba: "Pedaling Motion of a Cycle by Musculo-Skeletal Humanoid with Adapting Ability Based on an Evaluation of the Muscle Loads" Proc.IAS-9. 767-775 (2006)

  • A.Pitti, M.Lungarella and Y.Kuniyoshi: "Exploration of Natural Dynamics through Resonance and Chaos" Proc.IAS-9. 558-565 (2006)

  • M.Lungarella, K.Ishiguro, Y.Kuniyoshi and N.Otsu: "Methods for Quantifying the Causal Structure of Bivarieate Time Series" International Journal of Bifurcation and Chaos, 2006 (in press). (2006),

  • K.Terada, Y.Kuniyoshi: "Automatic Motion Generation Exploiting the Global Structure of Non-Linear Dynamics Based on Finite Time Reachability" Robotics and Autonomous Systems, 2006 (in press). (2006),

このページのURI

http://kaken.nii.ac.jp/ja/p/13GS0006/2005/6/ja