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幼児の発達過程に学ヒューマノイドロボットのモータースキル学習

Research Project

Project/Area Number 15700174
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeSingle-year Grants
Research Field Perception information processing/Intelligent robotics
Research InstitutionNational Institute of Advanced Industrial Science and Technology

Principal Investigator

BERTHOUZE Luc  独立行政法人産業技術総合研究所, 脳神経情報研究部門, 研究員 (70357937)

Project Period (FY) 2003 – 2005
Project Status Completed (Fiscal Year 2004)
Budget Amount *help
¥3,200,000 (Direct Cost: ¥3,200,000)
Fiscal Year 2004: ¥1,600,000 (Direct Cost: ¥1,600,000)
Fiscal Year 2003: ¥1,600,000 (Direct Cost: ¥1,600,000)
KeywordsHumanoid robotics / Motor skill acquisition / Locomotion / Central pattern generator / Self-organization / Entrainment / Passive compliance / Flexible phase locking / 発達ロボティックス / 飛びはねるロボット / 幼児のモータースキル発達 / パターン生成器
Research Abstract

The purpose of the study was to understand the mechanisms underlying early locomotor skill acquisition by replicating the bouncing study of Goldfield et al. (developmental psychology) by using a robot strapped to a Jolly Jumper. Such replication was expected to help construct hypotheses and predictions on the key requirements for the acquisition of motor skills in humanoid. A small biped humanoid robot was constructed for the purpose of the experiment. In human infants, the natural compliance of the infant's musculoskeletal system reduces the dynamic loads of bouncing. In robots, however, mechanical compliance has a negative influence on positional accuracy, stability and control bandwidth. Compliant extensions were constructed using visco-elastic material placed in brass bushes and mounted in series with the actuators. A compliant foot system was implemented as using springy toes and a rigid heel. While compliance provided the damping necessary to cut off oscillations at an early stage, it also induced backlash, which from a control point of view, results in delay in the feedback loop. For robust jumping performance to occur, those delays must be compensated for by the control structure. A control structure based on biologically-plausible oscillators (Bonhoeffer-Van de Pol) used as pattern generators, was developed. It was shown that the architecture displayed flexible phase locking whereby the oscillators could entrain to sensory feedback from sensors placed under the feet, even in the presence of large delays. This property of flexible phase locking makes the choice of a particular organization of oscillators less critical than when harmonic oscillators are used, especially when self-tuning of the oscillators' time constants is possible ("tuning" phase studied in year 15). Robustness to environmental perturbations was tested systematically. The control framework showed to be very flexible, with rapid adaptations to changes in ground height for example.

Report

(2 results)
  • 2004 Annual Research Report
  • 2003 Annual Research Report
  • Research Products

    (8 results)

All 2005 2004 Other

All Journal Article (4 results) Publications (4 results)

  • [Journal Article] Robust robot bouncing : Passive compliance and flexible phase locking2005

    • Author(s)
      A.Sprowitz, L.Berthouze
    • Journal Title

      3^<rd> International Symposium on Adaptive Motion in Animals and Machines (Submitted)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Motor skill acquisition under environmental perturbations : On the necessity of alternate freezing and freeing of degrees of freedom.2004

    • Author(s)
      L.Berthouze, M.Lungarella
    • Journal Title

      Adaptive Behavior 12・1

      Pages: 47-63

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Robot bouncing : On the synergy between neural and body environment dynamics.2004

    • Author(s)
      M.Lungarella, L.Berthouze
    • Journal Title

      Embodied Artificial Intelligence (Lecture Notes in Computer Science) 3139

      Pages: 86-97

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Simple and low-cost compliant leg-foot system2004

    • Author(s)
      F.Meyer, A.Sprowitz, M.Lungarella, L.Berthouze
    • Journal Title

      Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 515-520

    • Related Report
      2004 Annual Research Report
  • [Publications] Luc Berthouze, Tom Ziemke: "Epigenetic robotics - Modeling cognitive development in robotic systems"Connection Science. 15(4). 147-150 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] Luc Berthouze: "Towards computational models of motor development"AISB Quarterly. 115. 6-9 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] Luc Berthouze, Christopher G.Prince: "Introduction : The Third International Workshop on Epigenetic Robotics"Proceedings of the 3^<rd> International Workshop on Epigenetic Robotics, Boston, August 4-5, 2003.. 1-9 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] Max Lungarella, Luc Berthouze: "Robot bouncing : On the interaction between bodily and environmental dynamics"Embodied Artificial Intelligence (Springer Verlag). (In press). (2004)

    • Related Report
      2003 Annual Research Report

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Published: 2003-04-01   Modified: 2016-04-21  

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