• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

物理的インタラクションに基づくヒューマノイドロボットへの直感的な全身運動の教示

Research Project

Project/Area Number 12F02048
Research Category

Grant-in-Aid for JSPS Fellows

Allocation TypeSingle-year Grants
Section外国
Research Field Perception information processing/Intelligent robotics
Research InstitutionOsaka University

Principal Investigator

石黒 浩  大阪大学, 基礎工学研究科, 教授

Co-Investigator(Kenkyū-buntansha) DALLA LIBERA Fabio  大阪大学, 基礎工学研究科, 外国人特別研究員
DALLALIBERA Fabio  大阪大学, 基礎工学研究科, 外国人特別研究員
Project Period (FY) 2012 – 2013
Project Status Completed (Fiscal Year 2013)
Budget Amount *help
¥2,300,000 (Direct Cost: ¥2,300,000)
Fiscal Year 2013: ¥1,100,000 (Direct Cost: ¥1,100,000)
Fiscal Year 2012: ¥1,200,000 (Direct Cost: ¥1,200,000)
Keywordsヒューマノイドロボット / ヒューマン・ロボット・インタラクション / ロボット教示 / 接触 / 動作生成
Research Abstract

The purpose of this research is the realization of a system that allows ordinary people, with no particular knowledge on robots, to teach motions to humanoid robots by touching them. The choice of focusing on humanoids is motivated by two main reasons. First, humanoid robots have a morphology similar to the one of people, and are thus expected to be able to use tools and infrastructures already available for people, without the need of building new ones. Second, if opportunely programmed, their actions can be easily understood by people. Indeed, humans are already skilled in predicting other people's behavior. If robots move similarly to humans, then people will be able to unconsciously predict robot's behaviors. This in turn, eases the communication between humans and robots and increases the safety of both of them.
The movements that ordinary people expect from a humanoid robot when they touch it were investigated. From the data collected a mathematical model of these responses was created. The robot was moved according to the model, and it was verified that people find the robot movements natural. Moreover, it was shown that, given several responses to a touch, the model is able to predict which is the most natural one. The model was also shown to be able to classify the responses into several groups, which correspond to the grouping that ordinary people tend to do. The work is currently under review.
In order to study with more depth the expected movements of the head, a new 4DOF robotics head was also developed. The study of this mechanism has important theoretical implications, and led to a publication in the Journal of Mechanisms and Machine Theory.
Additionally, considerations on the integration of information from multiple noisy sensors lead to another theoretical publication in the Communications in Nonlinear Science and Numerical Simulations Journal.

Strategy for Future Research Activity

(抄録なし)

Report

(2 results)
  • 2013 Annual Research Report
  • 2012 Annual Research Report
  • Research Products

    (7 results)

All 2014 2013 2012 Other

All Journal Article (4 results) (of which Peer Reviewed: 4 results) Presentation (2 results) Remarks (1 results)

  • [Journal Article] Spurious Correlation as an Approximation of the Mutual Information between Redundant Outputs and an Unknown Input2014

    • Author(s)
      Shuhei Nemoto, Fabio DallaLibera, Koh Hosoda, Hiroshi Ishiguro
    • Journal Title

      Communications in Nonlinear Science and Numerical Simulations

      Volume: (印刷中) Issue: 10 Pages: 3611-3616

    • DOI

      10.1016/j.cnsns.2014.03.021

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Non-singular transitions between assembly modes of 2-DOF planar parallel manipulators with a passive leg2014

    • Author(s)
      Fabio DallaLibera, Hiroshi Ishiguro
    • Journal Title

      Mechanism and Machine Theory

      Volume: 77 Pages: 182-197

    • DOI

      10.1016/j.mechmachtheory.2014.02.014

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Control of real-world complex robots using a biologically inspired algorithm2012

    • Author(s)
      DallaLibera F
    • Journal Title

      Artificial Life and Robotics

      Volume: 17 Pages: 42-46

    • Related Report
      2012 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A study on the use of tactile instructions for developing robot' s motions2012

    • Author(s)
      Basoeki F (共著)
    • Journal Title

      Artificial Life and Robotics

      Volume: 17(1) Pages: 197-203

    • Related Report
      2012 Annual Research Report
    • Peer Reviewed
  • [Presentation] ROSlink : Interfacing legacy systems with ROS2013

    • Author(s)
      Fabio DallaLibera
    • Organizer
      2013 IEEE International Conference on Robotics and Automation (ICRA)
    • Place of Presentation
      カールスルーエ(ドイツ)
    • Related Report
      2013 Annual Research Report
  • [Presentation] Interpretation of spontaneously provided tactile instructions2012

    • Author(s)
      Dalla Libera Fabio
    • Organizer
      IROS' 2012 Workshop on Learning and Interaction in Haptic Robots
    • Place of Presentation
      ヴィラモウラ(ポルトガル)(招待講演)
    • Year and Date
      2012-10-12
    • Related Report
      2012 Annual Research Report
  • [Remarks]

    • URL

      http://robotics.dei.unipd.it/~fabiodl/

    • Related Report
      2013 Annual Research Report

URL: 

Published: 2013-04-25   Modified: 2024-03-26  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi