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Integration of Intelligent Robot Kernels and its Development for Interpersonal Behaviors in Life-size Humanoids

Research Project

Project/Area Number 16100002
Research Category

Grant-in-Aid for Scientific Research (S)

Allocation TypeSingle-year Grants
Research Field Perception information processing/Intelligent robotics
Research InstitutionThe University of Tokyo

Principal Investigator

INABA Masayuki  The University of Tokyo, 大学院・情報理工学系研究科, 教授 (50184726)

Co-Investigator(Kenkyū-buntansha) MIZUUCHI Ikuo  東京農工大学, 大学院・工学府, 准教授 (60359651)
KEI Okada  東京大学, 大学院・情報理工学系研究科, 特任講師 (70359652)
YOSHIKAI Tomoaki  東京大学, 大学院・情報理工学系研究科, 特任講師 (60436558)
HANAI Ryo  東京大学, 大学院・情報理工学系研究科, 特任助教 (10521255)
YAMAZAKI Kimitoshi  東京大学, 大学院・情報理工学系研究科, 特任助教 (00521254)
INAMURA Tetsunari  国立情報学研究所, 情報学プリンシプル研究系, 助教授 (20361545)
ISOZUMI Takakatsu  川田工業, 航空・機械事業部, 課長
Project Period (FY) 2004 – 2008
Project Status Completed (Fiscal Year 2008)
Budget Amount *help
¥108,160,000 (Direct Cost: ¥83,200,000、Indirect Cost: ¥24,960,000)
Fiscal Year 2008: ¥17,290,000 (Direct Cost: ¥13,300,000、Indirect Cost: ¥3,990,000)
Fiscal Year 2007: ¥22,750,000 (Direct Cost: ¥17,500,000、Indirect Cost: ¥5,250,000)
Fiscal Year 2006: ¥23,920,000 (Direct Cost: ¥18,400,000、Indirect Cost: ¥5,520,000)
Fiscal Year 2005: ¥22,490,000 (Direct Cost: ¥17,300,000、Indirect Cost: ¥5,190,000)
Fiscal Year 2004: ¥21,710,000 (Direct Cost: ¥16,700,000、Indirect Cost: ¥5,010,000)
Keywordsヒューマノイド / 知能ロボット / 対人行動 / ロボットソフトウェア / ヒューマンインタフェース / ロボット対話 / 視聴覚処理 / ロボットカーネル / 確率的推論 / ヒューマンインターフェース
Research Abstract

本研究は, 等身大ヒューマノイドプラットフォームに対して, 視聴覚・全身触覚・動的全身反応行動などの高位の情報処理技術を搭載した知能ロボットカーネルを統合し, 人からの多様な働きかけに対して対応するための行動を実現するために必要な機能とシステム構成を明らかにした.

Report

(6 results)
  • 2008 Annual Research Report   Final Research Report ( PDF )
  • 2007 Annual Research Report
  • 2006 Annual Research Report
  • 2005 Annual Research Report
  • 2004 Annual Research Report
  • Research Products

    (50 results)

All 2009 2008 2007 2006 2005 2004 Other

All Journal Article (29 results) (of which Peer Reviewed: 10 results) Presentation (8 results) Book (2 results) Remarks (11 results)

  • [Journal Article] Hirochika Inoue : "HRP-2W : A humanoid platform for research on support behavior in daily life environments"2009

    • Author(s)
      T. Inamura, K. Okada, S. Tokutsu, N. Hatao, M. Inaba
    • Journal Title

      Robotics and Autonomous System Vol.57, No.2

      Pages: 145-154

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] 認識行動共有知識ベースシステムにおける複数視覚特徴統合による物体認識2008

    • Author(s)
      岡田 慧, 小島 光晴, 稲葉 雅幸
    • Journal Title

      日本ロボット学会誌 Vol.26, No.6

      Pages: 537-545

    • NAID

      10024269353

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] 認識行動共有知識ベースシステムにおける複数視覚特徴統合による物体認識2008

    • Author(s)
      岡田慧, 小島光晴, 稲葉雅幸
    • Journal Title

      日本ロボット学会誌 26・6

      Pages: 537-545

    • NAID

      10024269353

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Scenario comtroller for daily assistive humanoid using visual verification2008

    • Author(s)
      Kei Okade, Satoru Tokutsu, Mitsuharu Kojima, Takashi Ogura, Yuto Mori, Toshiaki Maki, Masayuki Inaba
    • Journal Title

      Proceedings of the 10th International Conference on Intelligent Autonomous Systems

      Pages: 398-405

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Thermal Control of Electrical Motors for High-Power Humanoid Robots2008

    • Author(s)
      Jumichi Urata, Toshinori Hirose, Namike Yuta, Yuto Nasayuki
    • Journal Title

      Proceedings of The 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 2047-2052

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 飲料缶・ボトル類を目と手と耳で分別廃棄するヒューマノイド行動の実現2007

    • Author(s)
      稲邑哲也, 古城直樹, 畑尾直孝, 得津覚, 藤本純也, 園田朋之, 岡田慧, 稲葉雅幸
    • Journal Title

      日本ロボット学会誌 Vol.25, No.6

      Pages: 15-23

    • NAID

      10019859336

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] 予測可能な衝撃力に対する予見制御に基づくヒューマノイドの身構え行動制御2007

    • Author(s)
      神崎秀, 岡田慧, 稲葉雅幸
    • Journal Title

      日本ロボット学会誌 Vol.25, No.7

      Pages: 46-51

    • NAID

      10019834456

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] 予測可能な衝撃力に対する予見制御に基づくヒューマノイドの身構え行動制御2007

    • Author(s)
      神崎 秀, 岡田 慧, 稲葉 雅幸
    • Journal Title

      日本ロボット学会誌 25.7

      Pages: 46-51

    • NAID

      10019834456

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Multi-cue 3D Object Recognition in Knowledge-based Vision-guided Humanoid Robot Syst2007

    • Author(s)
      Kei Okada, Mitsuharu Kojima, Satoru Tokutsu, Toshiaki Maki, Yuto Mori, Masaki Inaba
    • Journal Title

      Proceedings of The 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 3217-3222

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Realization of Dynamics Simulator Embedded Robot Brain for Humanoid Robots2007

    • Author(s)
      Takashi Ogura, Kei Okada, Masayuki Inaba
    • Journal Title

      Proceedings of The 2007 IEEE International Conference on Robotics and Automation

      Pages: 2175-2180

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] ヒューマノイドロボットのシステム実現 - ロボットシステム記述言語EusLispによる実装2006

    • Author(s)
      稲葉 雅幸, 岡田 慧, 水内 郁夫, 稲邑哲也
    • Journal Title

      コンピュータソフトウェア vol.23, no.2

      Pages: 45-61

    • NAID

      110008016701

    • Related Report
      2008 Final Research Report
  • [Journal Article] ヒューマノイドロボットのシステム実現-ロボットシステム記述言語EusLispによる実装-2006

    • Author(s)
      稲葉 雅幸, 岡田 慧, 水内 郁夫, 稲邑 哲也
    • Journal Title

      コンピュータソフトウェア 23・2

      Pages: 45-61

    • NAID

      110008016701

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Situation Recognition and Behavior Induction based on Geometric Symbol Representation of Multimodal Sensorimotor Patterns,2006

    • Author(s)
      Tetsunari Inamura, Naoki Kojo, Masayuki Inaba
    • Journal Title

      Proceedings of The 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 5147-5152

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Vision based behavior verification system of humanoid robot for daily environment tasks2006

    • Author(s)
      Kei Okada, Mitsuharu Kojima, Yuichi Sagawa, Toshiyuki Ichino, Kenji Sato, Masayuki Inaba
    • Journal Title

      Proceedings of The 2006 6th IEEE-RAS International Conference on Humanoid Robots

      Pages: 7-12

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Cooking for humanoid robot, a task that needs symbolic and geometric reasonings2006

    • Author(s)
      Fabien Gravot, Atsushi Haneda, Kei Okada, Masayuki Inaba
    • Journal Title

      Proceedings of The 2006 IEEE International Conference on Robotics and Automation,

      Pages: 462-467

    • Related Report
      2006 Annual Research Report
  • [Journal Article] 手渡されたものを見回して記憶しそれをもとに物体認識するヒューマノイドの研究2006

    • Author(s)
      小島 光晴, 岡田 慧, 稲葉 雅幸
    • Journal Title

      第24回ロボット学会学術講演会予稿集

    • Related Report
      2006 Annual Research Report
  • [Journal Article] ヒューマノイドにおける注意制御のための自律的視聴覚環境記憶システム2006

    • Author(s)
      杉山 悠, 得津 覚, 岡田 慧, 稲邑 哲也, 稲葉 雅幸
    • Journal Title

      第24回ロボット学会学術講演会予稿集

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Load Distributed Whole-body Motion Generation Method for Humanoids by Minimizing Average Joint Torque Ratio2006

    • Author(s)
      Ryusuke Adachi, Shigeru Kanzaki, Kei Okada, Masayuki Inaba
    • Journal Title

      Proceedings of the 9th International Conference on Intelligent Autonomous Systems

      Pages: 804-811

    • Related Report
      2005 Annual Research Report
  • [Journal Article] A Dialogue Control Model based on Ambiguity Evaluation of Users' Instructions and Stochastic Representation of Experiences2005

    • Author(s)
      Tetsunari Inamura, Masayuki Inaba, Hirochika Inoue
    • Journal Title

      Journal of Robotics and Mechatronics 17・6

      Pages: 697-704

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Autonomous 3D Walking System for a Humanoid Robot based on Visual Step Recognition and 3D Foot Planner2005

    • Author(s)
      Okada Kei, Ogura Takashi, Haneda Atsushi, Inaba Masayuki
    • Journal Title

      Proceedings of The 2005 IEEE International Conference on Robotics and Automation

      Pages: 625-630

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Real-Time and Precise Self Collision Detection System for Humanoid Robots2005

    • Author(s)
      Kei Okada, Masayuki Inaba, Hirochika Inoue
    • Journal Title

      Proceedings of The 2005 IEEE International Conference on Robotics and Automation

      Pages: 1072-1077

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Humanoid Motion Generation System on HRP2-JSK for Daily Life Environment2005

    • Author(s)
      Kei Okada, Takashi Ogura, Atsushi Haneda, Junya Fujimoto, Fabien Gravot, Masayuki Inaba
    • Journal Title

      2005 International Conference on Mechatronics and Automation (ICMA05)

      Pages: 1772-1777

    • Related Report
      2005 Annual Research Report
  • [Journal Article] On-site Humanoid Navigation Through Hand-in-Hand Interface2005

    • Author(s)
      Takashi Ogura, Atushi Haneda, Kei Okada, Masayuki Inaba
    • Journal Title

      Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids2005)

      Pages: 175-180

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 発達する身体とソフトウェア2005

    • Author(s)
      稲葉 雅幸
    • Journal Title

      学術月報 58・2

      Pages: 109-115

    • Related Report
      2004 Annual Research Report
  • [Journal Article] PEXIS : Probabilistic Experience Representation Based Adaptive Interaction System for Personal Robots2004

    • Author(s)
      T.Inamura, M.Inaba, H.Inoue
    • Journal Title

      Systems and Computers in Japan 35・6

      Pages: 98-109

    • NAID

      110003184709

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Integrated System Software for HRP2 Humanoid2004

    • Author(s)
      K.Okada, T.Ogura, A.Haneda, D.Kousaka, H.Nakai, M.Inaba H.
    • Journal Title

      Proc. of 2004 IEEE International Conf. On Robotics and Automation

      Pages: 3207-3212

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Environment Manipulation Planner for Humanoid Robots Using Task Graph That Generates ActionSequence2004

    • Author(s)
      K.Okada, A.Haneda, H.Nakai, M.Inaba, H.Inoue
    • Journal Title

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

      Pages: 1174-1179

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Development of Wearable Controller with Gloves and Voice Interface for Humanoids' Whole-body Motion Generation2004

    • Author(s)
      S.KANZAKI, Y.FUKUMOTO, K.NISHIWAKI, T.INAMURA, M.INABA, H.INOUE
    • Journal Title

      Proceedings of the International Conference on Machine Automation 2004

      Pages: 297-302

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Humanoid Navigation System with Replanning Control of Manipulating Movable Obstacles2004

    • Author(s)
      A.HANEDA, K.OKADA, H.NAKAI, T.INAmuRA, M.INABA, H.INOUE
    • Journal Title

      Proceedings of the International Conference on Machine Automation 2004

      Pages: 291-296

    • Related Report
      2004 Annual Research Report
  • [Presentation] Task Guided Attention Control and Visual Verification in Tea Serving by the Daily Assistive Humanoid HRP2JSK2008

    • Author(s)
      K. Okada, M. Kojima, S. Tokutsu, Y. Mori, T. Maki, M. Inaba
    • Organizer
      Proceedings of The 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
    • Place of Presentation
      フランス
    • Year and Date
      2008-09-24
    • Related Report
      2008 Final Research Report
  • [Presentation] Wheelchair Support by a Humanoid Through Integrating Environment Recognition", Proceedings of The 2008 IEEE/RSJ International2008

    • Author(s)
      S. Nozawa, T. Maki, M. Kojima, S. Kanzaki, K. Okada, M. Inaba
    • Organizer
      Conference on Intelligent Robots and Systems
    • Place of Presentation
      フランス
    • Year and Date
      2008-09-24
    • Related Report
      2008 Final Research Report
  • [Presentation] 日常支援ヒューマノイドの生活音と人の認識履歴に基づく視覚状況認識・推論2008

    • Author(s)
      得津覚, 岡田慧, 稲葉雅幸
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会'08講演論文集
    • Place of Presentation
      長野県
    • Year and Date
      2008-06-07
    • Related Report
      2008 Annual Research Report
  • [Presentation] 等身大ヒューマノイドによる車椅子介助支援行動の実現2007

    • Author(s)
      野沢 後一, 神崎 秀, 小島 光晴, 得津 覚, 槙 俊明, 岡田 慧, 稲葉 雅幸
    • Organizer
      第25回日本ロボット学会学術講演会講演論文集
    • Place of Presentation
      千葉
    • Year and Date
      2007-09-15
    • Related Report
      2007 Annual Research Report
  • [Presentation] 人間ロボット間の対話に基づく協調的タスク遂行のための確率的空間記憶モデル2007

    • Author(s)
      稲邑 哲也, 園田 朋之, 川路 友博, 岡田 慧, 稲葉 雅幸
    • Organizer
      第12回ロボティクスシンポジア
    • Place of Presentation
      新潟県
    • Year and Date
      2007-03-15
    • Related Report
      2008 Final Research Report
  • [Presentation] Mitsuharu Kojima, Yuichi Sagawa, Toshiyuki Ichino, Kenji Sato2006

    • Author(s)
      Kei Okada
    • Organizer
      Masayuki Inaba : "Vision based behavior verification system of humanoid robot for daily environment tasks", 2006 6th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2006)
    • Place of Presentation
      イタリア
    • Year and Date
      2006-12-15
    • Related Report
      2008 Final Research Report
  • [Presentation] Gesture Recognition for Humanoids using Proto-symbol Space2006

    • Author(s)
      N. Kojo, T. Inamura, K. Okada, M. Inaba
    • Organizer
      2006 6th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2006)
    • Place of Presentation
      イタリア
    • Year and Date
      2006-12-15
    • Related Report
      2008 Final Research Report
  • [Presentation] On-site Humanoid Navigation Through Hand-in-Hand Interface2005

    • Author(s)
      T. Ogura, A. Haneda, K. Okada, M. Inaba
    • Organizer
      2005 International Conference on Humanoid Robots
    • Place of Presentation
      つくば
    • Year and Date
      2005-12-06
    • Related Report
      2008 Final Research Report
  • [Book] 岩波講座 ロボット学7 ロボットアナトミー2005

    • Author(s)
      稲葉 雅幸, 加賀美聡, 西脇光一
    • Total Pages
      369
    • Publisher
      岩波書店
    • Related Report
      2008 Final Research Report
  • [Book] 岩波講座 ロボット学7 ロボットアナトミー2005

    • Author(s)
      稲葉雅幸, 加賀美聡, 西脇光一
    • Total Pages
      369
    • Publisher
      岩波書店
    • Related Report
      2005 Annual Research Report 2004 Annual Research Report
  • [Remarks] 2009 年4月2日朝日小学生新聞「人にやさしいロボット開発中」

    • Related Report
      2008 Final Research Report
  • [Remarks] 2008年6月16日読売新聞「ヒューマノイド開発中」

    • Related Report
      2008 Final Research Report
  • [Remarks] 2006 年10月24日日刊工業新聞「アルミと鉄たたいて識別」

    • Related Report
      2008 Final Research Report
  • [Remarks] 2006 年5月1日読売新聞「人間に近づく知能ロボット」

    • Related Report
      2008 Final Research Report
  • [Remarks] 2005 年2月21日日経産業新聞「進化する人工知能」

    • Related Report
      2008 Final Research Report
  • [Remarks] 2008年12月18日NHK BS hi アトムの世紀-夢のロボット開発に挑む科学者たち-

    • Related Report
      2008 Final Research Report
  • [Remarks] 2007 年7月16日テレビ東京 カンブリア宮殿ゲスト : 小宮山宏(東京大学総長)

    • Related Report
      2008 Final Research Report
  • [Remarks] 2006 年10月25日NHK ニュースウォッチ9「家事はまかせて」

    • Related Report
      2008 Final Research Report
  • [Remarks] 2006 年10月21日フジテレビ スーパーニュース

    • Related Report
      2008 Final Research Report
  • [Remarks] 2005 年8月23日NHK おはよう日本

    • Related Report
      2008 Final Research Report
  • [Remarks] 2005 年8月18日TBS, フジテレビ, 日本テレビ「皇太子殿下秋葉原行啓」

    • Related Report
      2008 Final Research Report

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Published: 2004-04-01   Modified: 2016-04-21  

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