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Learning of Motions for Visuo-Motor Coordination of Intelligent Robots

Research Project

Project/Area Number 08650497
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field 計測・制御工学
Research InstitutionKyushu University

Principal Investigator

ZHA Hongbin  Associate Professor, Department of Intelligent Systems, Graduate School of Information Science & Electrical Eng., Kyushu University, 大学院・システム情報科学研究科, 助教授 (80225680)

Co-Investigator(Kenkyū-buntansha) OKADA Nobuhiro  Assistant Professor, University Computation Center, Kyushu University, 工学部, 講師 (80224020)
HASEGAWA Tsutomu  Professor, Department of Intelligent Systems, Graduate School of Information Sci, 大学院・システム情報科学研究科, 教授 (00243890)
Project Period (FY) 1996 – 1998
Project Status Completed (Fiscal Year 1998)
Budget Amount *help
¥2,400,000 (Direct Cost: ¥2,400,000)
Fiscal Year 1998: ¥200,000 (Direct Cost: ¥200,000)
Fiscal Year 1997: ¥900,000 (Direct Cost: ¥900,000)
Fiscal Year 1996: ¥1,300,000 (Direct Cost: ¥1,300,000)
Keywordsvisual-motor coordination / machine learning / self-organization / multi-robot systems / neural networks / ニューラルネットワーク
Research Abstract

The research aims to develop new methods of coordinating different functions in a robot system to accomplish complex tasks. Two kinds of functions are taken into consideration here : 1) visual sensing ; 2) motion control. They are coordinated mainly by making the robot automatically learn the motion trajectories when the target is recognized by the visual sensor. Basic idea hehind the learning process is to use self-organization principles in neural computing to simplify the originally complicated nonlinear learning problem into locally linear subproblems. The research was carried out in three stages, and main results are given in the following.
1) Learning algorithms for off-line simulators : Such an algorithm for learning target reaching by a six DOF manipulator is developed. It is implemented in a simple simulator that is able to simulate 3-D real environments with obstacles. New ideas such as potential-based optimization are utilized to deal with the complexity of environments.
2) On-line coordination using real manipulators : We built a real system composed of a high-quality workstation, a stereo-camera sensor and a six DOF manipulator. The learning algorithm developed in the first stage was realized in the system with special efforts for implementation efficiency. At the same time, we also solved the problem of obstacle avoidance when there is an object between the robot and the target.
3) Learning in tasks using multiple robots : The above algorithms were extended and applied to multi-robot systems. Two kinds of tasks based on the systems are investigated : 1) pushing an object uoward on a slanted plane ; 2) object rotation by a multi-finger hand, In these tasks, visual sensor are used to provide information on the system configuration as well as the states of objects under manipulation. It was shown that the visuo-motor coordination highly benefited such tasks of greater complexity and more uncertainties.

Report

(4 results)
  • 1998 Annual Research Report   Final Research Report Summary
  • 1997 Annual Research Report
  • 1996 Annual Research Report
  • Research Products

    (33 results)

All Other

All Publications (33 results)

  • [Publications] H.Zha,T.Onitsuka,T.Nagata: "A Self-Organization Learning Algorithm for Visuo-Motor Coordination in Unstructured Environments" Proc.Int.Symposium on Artificial Life and Robotics(AROB). 187-190 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] H.Zha,T.Onitsuka,T.Nagata: "A Visuo-Motor Coordination Algorithm for Controlling Arm's Movements in Environments with Obstacles" Proc.Fourth Int.Conf.on Control, Automation, Robotics and Vision(ICARCV'96). 899-903 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] H.Zha,T.Onitsuka,T.Nagata: "A Self-Organization Learning Algorithm for Visuo-Motor Coordination in Unstructured Environments" Artificial Life and Robotics. Vol.1, No.3. 131-136 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] H.Zha,H.Suzuki,T.Hasegawa,T.Nagata: "Agent-Based Distributed Robotic Systems for a Dextrous Pushing Manipulation Using Multiple Arms" Proc.3rd Asian Conf.on Robotics and its Applications(3rd ACRA). 281-288 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] H.Zha,H.Nagahama,T.Hasegawa: "Strategies for Changing Configurations of Autonomous Arms in a Complex Pusing Task" Proc.Third Int.Symp.Artificial Life and Robotics. 674-677 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] H.Zha,H.Nagahama,T.Hasegawa: "Distributed Multi-Arm Systems for Complex Pushing Tasks" Proc.IEEE Int.Conf.Systems,Man,and Cybernetics. 3359-3364 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] K.Tanaka,H.Zha,T.Hasegawa: "Planning Observation Positions for a Mobile Robot to Update Incomplete Maps of Indoor Environments" Proc.1998 IEEE/RSJ Int.Conf.Intelligent Robots and Systems. 899-904 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] H.Zha, T.Onitsuka, T.Nagata: ""A Self-Organization Learning Algorithm for Visuo-Motor Coordination in Unstructured Environments"" Proc.Int.Symposium on Artificial Life and Robotics (AROB). 187-190 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] H.Zha, T.Onitsuka, T.Nagata: ""A Visuo-Motor Coordination Algorithm for Controlling Arm's Movements in Environments with Obstacles"" Proc.Fourth Int.Conf.on Control, Automation, Robotics and Vision (ICARCV'96). 899-903 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] H.Zha, T.Onitsuka, T.Nagata: ""A Self-organization Learning Algorithm for Visuo-Motor Coordination in Unstructured Environments"" Artificial Life and Robotics. Vol.1, No.3. 131-136 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] H.Zha, H.Suzuki, T.Hasegawa, T.Nagata: ""Agent-Based Distributed Robotic systems for a Dextrous Pushing Manipulation Using Multiple Arms"" Proc.3rd Asian Conf.on Robotics and its Applications (3rd ACRA). 281-288 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] H.Zha, H.Nagahama, T.Hasegawa: ""Strategies for Changing Configurations of Autonomous Arms in a Complex Pusing Task"" Proc.Third Int.Symp.Artificial Life and Robotics. 674-677 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] H.Zha, H.Nagahama, T.Hasegawa: ""Distributed Multi-Arm Systems for Complex Pushing Tasks"" Proc.IEEE Int.Conf.Systems, Man, and Cybernetics. 3359-3364 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] K.Tanaka, H.Zha, T.Hasegawa: ""Planning Observation Positions for a Mobile Robot to Update Incomplete Maps of Indoor Environments"" Proc.1998 IEEE/RSJ Int.Conf.Intelligent Robots and Systems. 899-904 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] H.Zha,H.Nagahama,T.Hasegawa: "Strategies for Changing Configurations of Autonomous Arms in a Complex Pusing Task" Proc.Third Int.Symp.Artificial Life Robotics. 674-677 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] K.Morooka,H.Zha,T.Hasegawa: "Active Object Modeling Based on Next Best Viewpoint(NBV) Planning" Proc.14th lnt.Conf.Pattern Recognition. 6778-681 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] H.Zha,H.Nagahama,T.Hasegawa: "Distributed Multi-Arm Systems for Complex Pushing Tasks" Proc.IEEE Int.Conf.Systems,Man,and Cybemetics. 3359-3364 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] N.Okada,H.Zha,T.Hasegawa,etc.: "A Vision System for a Reliable and Fast Parts Picking System" Proc.4th Japan-France and 2nd Asia-Europe Congress on Mechatronics. 634-637 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] K.Tanaka,H.Zha,T.Hasegawa: "Planning Observation Positions for a Mobile Robot to Update Incomplete Maps of indoor Environments" Proc.1998 IEEE/RSJ Int.Conf.Intelligent Robots and Systems. 899-904 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] H.Zha,K.Morooka,etc.: "Active Modeling of 3-D Objects:Planning on the Next Best Pose(NBP)for Acquiring Range lmages" Proc.Int.Conf.Recent Advances in 3-D Digital Imaging and Modeling. 68-75 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] T.Matsuoka,T.Hasegawa,etc.: "Mechanical Assembly based on Motion Primitives of Multi-fingered Hand" Proc.IEEE/ASME Int.Conf.Advanced Intelligent Mechatronics(AIM′97). CD-ROM (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] H.Zha,K.Tanaka,T.Hasegawa: "Detecting Changes in a Dynamic Environment for Updating its Maps by Using a Mobile Robot" Pro.IEEE/RSJ Int.Conf.Intelligent Robots and Systems(IROS′97). 1729-1734 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] H.Zha,H.Nagahama,T.Hasegawa: "On-line Sensing and Action Planning in an Autonomous and Distributed Multi-ArmSystem" Proc.IEEE Int.Conf.Systems,Man,and Cybernetics(SMC′97). 3255-3260 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] H.Zha,T.Onitsuka,T.Nagata: "A Self-organization Learning Algorithm for Visuo-Motor Coordination in UnstructureEnvironments" Artificial Life and Robotics. Vol.1,No.3. 131-136 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] H.Zha,H.Suzuki,T.Nagata: "Agent-Based Distributed Robotic Systems for a Dextrous Pushing Manipulation Using Multiple Arms" Proc.3rd Asian Conf.Robotics and its Applications(3rd ACRA). 169-176 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] H.Zha,K.Morooka,etc.: "Next Best Viewpoint(NBV)Planning for Active Object Modeling Based on aLearning-by-Showing Approach" Proc.Third Asian Conf.Computer Vision,Computer Vision-ACCV′98. Vol.2. 185-192 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] H.Zha,K.Morooka,etc.: "Object Pose Planning for Generating 3-D Models from Range Imege Sequences" Proc. of 1996 Japan-U.S.A.Symposium on Flexible Automation. 901-904 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] H.Zha,T.Onitsuka,T.Nagata: "Visuo-Motor Coordination in Unstructured Environments : Self-Organization Learning Approach" Proc. of 12th Int. Conf. CAD/CAM Robotics and Factories of the Future. 471-477 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 岡田伸廣,長田正: "2台のカメラとレーザスリット光投光器を用いたレンジファインダの試作とそのキャリブレーション" 電気学会論文誌(C). 116-C・6. 684-691 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] H.Zha,T.Onitsuka,T.Nagata: "A Visuo-Motor Coordination Algorithm for Controlling Arm′s Movements in Environments with Obstacles" Proc. of 4th Int. Conf. Control, Automation, Robotics and Vision. 899-903 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] T.Hasegawa,T.Matsuoka,etc: "Dexterous Manipulation System with a Multi-fingered Hand and Multi-Sensors" Proc. of IEEE Int. Conf. Systems, Man and Cybernetics. 1611-1616 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] H.Zha,H.Suzuki,T.Nagata: "Coordination of Visual and Tactile Sensors for a Pushing Operation Using Multiple Arms" Proc. of 1996 IEEE/SICE/RSJ Int. Conf. Multisensor Fusuin and Integration for Intelligent Systems. 581-588 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] H.Zha,K.Morooka,etc: "Active Modeling of 3-D Objects : Planning on the Next Best Pose (NBP) for Acquiring Range Images" Proc. Int. Conf. Recent Advances in 3-D Digital Imaging and Modeling. (1997)

    • Related Report
      1996 Annual Research Report

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Published: 1996-04-01   Modified: 2016-04-21  

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