A Study of Daily Assistive Robots to Learn Objects' Manipulation Based on Human Demonstration Using a MITATE Technique
Project/Area Number |
15K16070
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Research Category |
Grant-in-Aid for Young Scientists (B)
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Allocation Type | Multi-year Fund |
Research Field |
Intelligent robotics
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Research Institution | Shinshu University (2017) The University of Tokyo (2015-2016) |
Principal Investigator |
NAGAHAMA Kotaro 信州大学, 工学部, 講師(特定雇用) (10736698)
|
Project Period (FY) |
2015-04-01 – 2018-03-31
|
Project Status |
Completed (Fiscal Year 2017)
|
Budget Amount *help |
¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2016: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2015: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
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Keywords | 生活支援ロボット / 視覚教示 / 見立て / 情報工学 / ロボット工学 |
Outline of Final Research Achievements |
We propose a novel method for a daily assistive robot to learn a new task from its user who does not have technical knowledge. "Mitate," which is a human capacity to communicate a motion of a tool using a different tool and environment, provided inspiration to this system. The proposed system automatically estimate the mapping from the task space of the user and the robot. This enables the online teaching of a task by showing the target motion with a different tool and a different environment from the robot's. We evaluated the proposed method with daily tasks experimentally, and the results prove that the proposed method is effective.
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Report
(4 results)
Research Products
(4 results)