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Comprehensive realization of imitation related tasks of developmental scales based on partially observable Markov decision process theory

Research Project

Project/Area Number 15K00341
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Soft computing
Research InstitutionSaga University

Principal Investigator

ITOH Hideaki  佐賀大学, 理工学部, 准教授 (20345375)

Project Period (FY) 2015-04-01 – 2019-03-31
Project Status Completed (Fiscal Year 2018)
Budget Amount *help
¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2017: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2016: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2015: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Keywords確率的情報処理 / POMDP / 多機能エージェント / 発達尺度 / 模倣 / POMCP / 適応制御 / 最適制御
Outline of Final Research Achievements

In this study, we have developed several systems to perform imitation related tasks of developmental scales such as whole body movement imitation and figure copying. We have developed a system in which the agent can determine through dialogue what kind of imitation should be performed. We have also developed a system in which the agent itself can automatically optimize what kind of information processing should be performed in doing each imitation task. We realized the dialogue and information processing optimization in a unified manner using the partially observable Markov decision process (POMDP) theory.

Academic Significance and Societal Importance of the Research Achievements

本研究では、模倣関連タスクを遂行するための各種システムを開発し、どのような模倣を行うべきかをエージェントが対話から判断することや、各タスクの遂行においてどのような情報処理を行えばよいかをエージェント自身が自動的に最適化することを、部分観測マルコフ決定過程(POMDP)理論という汎用的な理論基盤の上で統一的に実現することができた。これは今後の多機能エージェントの研究・開発の基礎を築いた、意義のある成果であると考える。

Report

(5 results)
  • 2018 Annual Research Report   Final Research Report ( PDF )
  • 2017 Research-status Report
  • 2016 Research-status Report
  • 2015 Research-status Report
  • Research Products

    (27 results)

All 2019 2018 2017 2016 2015 Other

All Journal Article (1 results) (of which Peer Reviewed: 1 results,  Open Access: 1 results) Presentation (23 results) (of which Int'l Joint Research: 8 results) Remarks (3 results)

  • [Journal Article] Using model uncertainty for robust optimization in approximate inference control2017

    • Author(s)
      Itoh Hideaki, Sakai Yoshitaka, Kadoya Toru, Fukumoto Hisao, Wakuya Hiroshi, Furukawa Tatsuya
    • Journal Title

      Artificial Life and Robotics

      Volume: 22 Issue: 3 Pages: 327-335

    • DOI

      10.1007/s10015-017-0361-6

    • Related Report
      2017 Research-status Report
    • Peer Reviewed / Open Access
  • [Presentation] Development of a motion imitation system for a humanoid robot using sound localization and dialog2019

    • Author(s)
      Nozomi Ihara, Hideaki Itoh, Hisao Fukumoto, Hiroshi Wakuya
    • Organizer
      Proceedings of the 24th International Symposium on Artificial Life and Robotics (AROB 2019), pp. 612-616
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] ヒューマノイドロボットにおける音源定位を用いた動作模倣システムの開発2018

    • Author(s)
      井原 望,伊藤 秀昭,福本 尚生,和久屋 寛
    • Organizer
      IEEE主催2018年度第1回学生研究発表会予稿集, IEEE_IM-S18-01, pp. 1-2
    • Related Report
      2018 Annual Research Report
  • [Presentation] 図形模写ロボットにおける学習を用いた行動最適化の検討2018

    • Author(s)
      中野 秀彦,伊藤 秀昭,福本 尚生,和久屋 寛
    • Organizer
      第20回日本知能情報ファジィ学会九州支部学術講演会予稿集, pp. 69-72
    • Related Report
      2018 Annual Research Report
  • [Presentation] 絵指示ロボットにおける学習を用いた行動最適化の検討2018

    • Author(s)
      徳島 諒汰,伊藤 秀昭,福本 尚生,和久屋 寛
    • Organizer
      第20回日本知能情報ファジィ学会九州支部学術講演会予稿集, pp. 73-74
    • Related Report
      2018 Annual Research Report
  • [Presentation] Developing a Robot that Performs Tasks of Developmental Scales: On Pointing at Pictures2018

    • Author(s)
      Ryota Tokushima, Hideaki Itoh, Hisao Fukumoto, Hiroshi Wakuya
    • Organizer
      Proceedings of the 23rd International Symposium on Artificial Life and Robotics (AROB 2018), pp. 63-66
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research
  • [Presentation] Developing a Robot that Performs Tasks of Developmental Scales: On Copying Drawings2018

    • Author(s)
      Hidehiko Nakano, Hideaki Itoh, Hisao Fukumoto, Hiroshi Wakuya
    • Organizer
      Proceedings of the 23rd International Symposium on Artificial Life and Robotics (AROB 2018), pp. 67-70
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research
  • [Presentation] Optimization of Speech and Motion Actions in a Dialogue System by POMCP2017

    • Author(s)
      Maki Nakashima, Hideaki Itoh, Hisao Fukumoto, Hiroshi Wakuya
    • Organizer
      Proceedings of the 22nd International Symposium on Artificial Life and Robotics (AROB 2017), pp. 241-244
    • Place of Presentation
      B-Con Plaza, Beppu, Oita
    • Year and Date
      2017-01-21
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] Learning of Walking Motion of a humanoid robot using POMCP2017

    • Author(s)
      Kazuki Ishimoto, Hideaki Itoh, Hisao Fukumoto, Hiroshi Wakuya
    • Organizer
      Proceedings of the 22nd International Symposium on Artificial Life and Robotics (AROB 2017), pp. 357-360
    • Place of Presentation
      B-Con Plaza, Beppu, Oita
    • Year and Date
      2017-01-20
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] A Distributed and Automated Three-Dimensional Object Shape Measurement System Using ROS and HummingBoard2017

    • Author(s)
      Tomohiro Sasayama, Hideaki Itoh, Hisao Fukumoto, Hiroshi Wakuya
    • Organizer
      Proceedings of the 22nd International Symposium on Artificial Life and Robotics (AROB 2017), pp. 361-364
    • Place of Presentation
      B-Con Plaza, Beppu, Oita
    • Year and Date
      2017-01-20
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] ディープニューラルネットワークとデプスカメラを用いた指さしロボットシステムの開発2017

    • Author(s)
      徳島 諒汰,伊藤 秀昭,福本 尚生,和久屋 寛
    • Organizer
      IEEE主催2017年度第1回学生研究発表会予稿集,pp. 5-6
    • Related Report
      2017 Research-status Report
  • [Presentation] 図形模写ロボットのための対称図形の解析法の改善2017

    • Author(s)
      中野 秀彦,伊藤 秀昭,福本 尚生,和久屋 寛
    • Organizer
      IEEE主催2017年度第1回学生研究発表会予稿集,pp. 9-10
    • Related Report
      2017 Research-status Report
  • [Presentation] 3次元物体自動形状計測システムの性能向上2017

    • Author(s)
      笹山 友裕,伊藤 秀昭,福本 尚生,和久屋 寛
    • Organizer
      第19回日本知能情報ファジィ学会九州支部学術講演会予稿集,pp. 3-6
    • Related Report
      2017 Research-status Report
  • [Presentation] KinectとPOMCPを用いたヒト型ロボットの見まねによる歩行動作の学習2017

    • Author(s)
      石本 一貴,伊藤 秀昭,福本 尚生,和久屋 寛
    • Organizer
      第19回日本知能情報ファジィ学会九州支部学術講演会予稿集,pp. 7-10
    • Related Report
      2017 Research-status Report
  • [Presentation] 足裏センサを用いたヒト型ロボットの姿勢制御2016

    • Author(s)
      石本 一貴,伊藤 秀昭,福本 尚生,和久屋 寛
    • Organizer
      IEEE主催2016年度第1回学生研究発表会予稿集, pp. 13-14
    • Place of Presentation
      佐賀大学
    • Year and Date
      2016-11-10
    • Related Report
      2016 Research-status Report
  • [Presentation] ROSとHummingBoardを用いた分散型3次元物体自動形状計測システムの開発2016

    • Author(s)
      笹山 友裕,伊藤 秀昭,福本 尚生,和久屋 寛
    • Organizer
      IEEE主催2016年度第1回学生研究発表会予稿集, pp. 11-12
    • Place of Presentation
      佐賀大学
    • Year and Date
      2016-11-10
    • Related Report
      2016 Research-status Report
  • [Presentation] 図形模写ロボットにおける対象図形の計測・解析法の検討2016

    • Author(s)
      中野 秀彦,伊藤 秀昭,福本 尚生,和久屋 寛
    • Organizer
      IEEE主催2016年度第1回学生研究発表会予稿集, p. 5
    • Place of Presentation
      佐賀大学
    • Year and Date
      2016-11-10
    • Related Report
      2016 Research-status Report
  • [Presentation] Parallelization of POMCP for Movement Imitation in a Humanoid Robot2016

    • Author(s)
      Yoshitaka Sakai, Hideaki Itoh, Hisao Fukumoto, Hiroshi Wakuya, Tatsuya Furukawa
    • Organizer
      Proceedings of the 21st International Symposium on Artificial Life and Robotics (AROB 2016), GS6-3
    • Place of Presentation
      B-Con Plaza, Beppu, Oita
    • Year and Date
      2016-01-20
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] Developing a ROS Node to Control ICS Servo Motors2016

    • Author(s)
      Maki Nakashima, Hideaki Itoh, Hisao Fukumoto, Hiroshi Wakuya, Tatsuya Furukawa
    • Organizer
      Proceedings of the 21st International Symposium on Artificial Life and Robotics (AROB 2016), GS6-2
    • Place of Presentation
      B-Con Plaza, Beppu, Oita
    • Year and Date
      2016-01-20
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] 3次元点群データを用いた物体把持システムにおける把持可能点の順位付き抽出2015

    • Author(s)
      城戸 豊明,伊藤 秀昭,福本 尚生,和久屋 寛,古川 達也
    • Organizer
      IEEE主催2015年度第1回学生研究発表会,IEEE_IM-S15-04
    • Place of Presentation
      佐賀大学
    • Year and Date
      2015-11-19
    • Related Report
      2015 Research-status Report
  • [Presentation] 3次元点群データを用いた物体把持システムにおける把持対象抽出計算の高速化2015

    • Author(s)
      城戸 豊明,伊藤 秀昭,福本 尚生,和久屋 寛,古川 達也
    • Organizer
      平成27年度電気関係学会九州支部連合大会(第68回連合大会)講演論文集(CD-R),13-2A-11
    • Place of Presentation
      福岡大学
    • Year and Date
      2015-09-27
    • Related Report
      2015 Research-status Report
  • [Presentation] ROSを用いたHummingBoardによるサーボモーターの制御2015

    • Author(s)
      中島 麻貴,伊藤 秀昭,福本 尚生,和久屋 寛,古川 達也
    • Organizer
      平成27年度電気関係学会九州支部連合大会(第68回連合大会)講演論文集(CD-R),11-2P-10
    • Place of Presentation
      福岡大学
    • Year and Date
      2015-09-27
    • Related Report
      2015 Research-status Report
  • [Presentation] ROSとHummingBoardを用いた分散型3次元物体形状計測システムの開発2015

    • Author(s)
      笹山 友裕,伊藤 秀昭,福本 尚生,和久屋 寛,古川 達也
    • Organizer
      第23回電子情報通信学会九州支部学生会講演会講演論文集,CD-ROM,5032.pdf
    • Place of Presentation
      福岡大学
    • Year and Date
      2015-09-04
    • Related Report
      2015 Research-status Report
  • [Presentation] 足裏圧力センサーとZMPを用いた二足ロボットの姿勢安定化2015

    • Author(s)
      石本 一貴,伊藤 秀昭,福本 尚生,和久屋 寛,古川 達也
    • Organizer
      第23回電子情報通信学会九州支部学生会講演会講演論文集,CD-ROM,5037.pdf
    • Place of Presentation
      福岡大学
    • Year and Date
      2015-09-04
    • Related Report
      2015 Research-status Report
  • [Remarks] 研究室の業績

    • URL

      http://www.ace.ec.saga-u.ac.jp/Work/

    • Related Report
      2018 Annual Research Report 2017 Research-status Report 2016 Research-status Report 2015 Research-status Report
  • [Remarks] 多機能ロボット研究班

    • URL

      http://www.ace.ec.saga-u.ac.jp/Research/robots.html

    • Related Report
      2018 Annual Research Report 2017 Research-status Report 2016 Research-status Report 2015 Research-status Report
  • [Remarks] 自然言語処理研究班

    • URL

      http://www.ace.ec.saga-u.ac.jp/Research/nlp.html

    • Related Report
      2017 Research-status Report 2016 Research-status Report 2015 Research-status Report

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Published: 2015-04-16   Modified: 2020-03-30  

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