Active learning of motor skills for humanoid robots based on statistical learning methods
| Project/Area Number |
20800030
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| Research Category |
Grant-in-Aid for Young Scientists (Start-up)
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| Allocation Type | Single-year Grants |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Nara Institute of Science and Technology |
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Principal Investigator |
MATSUBARA Takamitsu Nara Institute of Science and Technology, 情報科学研究科, 助教 (20508056)
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| Project Period (FY) |
2008 – 2009
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| Project Status |
Completed (Fiscal Year 2009)
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| Budget Amount *help |
¥3,289,000 (Direct Cost: ¥2,530,000、Indirect Cost: ¥759,000)
Fiscal Year 2009: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2008: ¥1,729,000 (Direct Cost: ¥1,330,000、Indirect Cost: ¥399,000)
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| Keywords | ヒューマノイドロボット / 運動学習 / 統計学習 / 能動学習 / 見まね学習 / ヒューマノイド / 個性 / ヒト運動予測 / ガウス過程 / 強化学習 |
|---|
| Research Abstract |
In this research, we developed a novel learning procedure to efficiently learn a compact probabilistic movement primitive models from multiple motion sequences demonstrated by humans. The learned models employ a low dimensional parameter vector which represents the style of motion generated by the model. By modifying the parameter vector, efficient adaptation of the model to unknown environments can be achieved.
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Report
(3 results)
Research Products
(7 results)
