Theory and experiment of skill transfer by direct teaching and online learning

• Project/Area Number: 21680021
• Research Category: Grant-in-Aid for Young Scientists (A)
• Allocation Type: Single-year Grants
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: Ritsumeikan University (2010-2011); Advanced Telecommunications Research Institute International (2009)
• Principal Investigator: GEN Soukou 立命館大学, 理工学部, 准教授 (30344691)
• Research Collaborator: MORIMOTO Atsushi ATR脳情報研究所, 主任研究員 (10505986) ; MATSUBARA Takamitsu 奈良先端科学技術大学院大学, 情報技術科学研究科, 助教 (20508056)
• Project Period (FY): 2009 – 2011
• Project Status: Completed (Fiscal Year 2011)
• Budget Amount: ¥11,570,000 (Direct Cost: ¥8,900,000、Indirect Cost: ¥2,670,000); Fiscal Year 2011: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000); Fiscal Year 2010: ¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000); Fiscal Year 2009: ¥5,200,000 (Direct Cost: ¥4,000,000、Indirect Cost: ¥1,200,000)
• Keywords: 知能ロボット

Research Abstract

We proposed an intuitive and safe skill transfer method from human to robots. This is done by combining robotic controllers with direct motion teaching technique. The task demonstrated by human operators is represented as a manifold so that the similar task is automatically achieved in a small number of trials. The algorithm is validated on a three-joint force-controllable robot.

Research Products

• [Journal Article] Real-time stylistic prediction for whole-body human motions (2012)
  • Author(s): Matsubara, T., Hyon, S. and Morimoto, J.
  • Journal Title: Neural Networks Volume: vol.25 Pages: 191-199
  • Peer Reviewed
• [Journal Article] Real-time stylistic prediction for whole-body human motions (2012)
  • Author(s): Matsubara, T., Hyon, S., Morimoto, J.
  • Journal Title: Neural Networks Volume: 25 Pages: 191-199
  • DOI: 10.1016/j.neunet.2011.08.008
  • Peer Reviewed
• [Journal Article] Learning parametric dynamic movement primitives from multiple demonstrations (2011)
  • Author(s): Matsubara, T., Hyon, S. and Morimoto, J.
  • Journal Title: Neural Networks Volume: vol.24 Pages: 493-500
  • Peer Reviewed
• [Journal Article] 個性を考慮した周期的全身運動の予測 (2011)
  • Author(s): 松原崇充, 玄相昊, 森本淳
  • Journal Title: 電子情報通信学会論文誌 Volume: vol.J94-D, no.1 Pages: 344-355
  • NAID: 110008006576
  • Peer Reviewed
• [Journal Article] An optimal control approach for hybrid actuator system (2011)
  • Author(s): Matsubara, T., Noda, T., Hyon, S. and Morimoto, J.
  • Journal Title: IEEE-RAS International Conference on Humanoid Robots Pages: 300-3005
  • Peer Reviewed
• [Journal Article] XoR : Hybrid drive exoskeleton robot that can balance (2011)
  • Author(s): Hyon, S., Morimoto, J., Matsubara, T., Noda, T. and Kawato, M.
  • Journal Title: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems Pages: 3975-3981
  • Peer Reviewed
• [Journal Article] Learning parametric dynamic movement primitives from multiple demonstrations (2011)
  • Author(s): Matsubara, T., Hyon, S., Morimoto, J.
  • Journal Title: Neural Networks Volume: Volume 24, Issue 5(印刷中(掲載確定))
  • Peer Reviewed
• [Journal Article] Learning parametric dynamic movement primitives from multiple demonstrations (2010)
  • Author(s): Matsubara, T., Hyon, S., Morimoto, J.
  • Journal Title: 17th International Conference on Neural Information Processing Volume: vol.6443 Pages: 347-354
  • Peer Reviewed
• [Journal Article] Learning stylistic dynamic movement primitives from multiple demonstrations (2010)
  • Author(s): Matsubara, T., Hyon, S., Morimoto, J.
  • Journal Title: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems Pages: 1277-1283
  • Peer Reviewed
• [Presentation] Hybrid drive exoskeleton robot : Compliant control and system identification (2011)
  • Author(s): Hyon, S.
  • Organizer: IEEE-RAS International Conference on Humanoid Robots, Workshop
  • Place of Presentation: Bled, Slovenia(招待講演)
  • Year and Date: 2011-10-25
• [Presentation] An optimal control approach for hybrid actuator system (2011)
  • Author(s): Matsubara, T., Noda, T., Hyon, S., Morimoto, J.
  • Organizer: IEEE-RAS International Conference on Humanoid Robots
  • Place of Presentation: Bled, Slovenia
  • Year and Date: 2011-10-25
• [Presentation] XoR : Hybrid drive exoskeleton robot that can balance (2011)
  • Author(s): S.Hyon, J.Morimoto, T.Matsubara, T.Noda, M.Kawato
  • Organizer: IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: San Francisco, USA
  • Year and Date: 2011-09-26
• [Presentation] Hybrid drive exoskeleton robot : Compliant control and system identification (2011)
  • Author(s): Hyon, S.
  • Organizer: IEEE-RAS International Conference on Humanoid Robots
  • Place of Presentation: Workshop
• [Presentation] トルク制御が可能なハイブリッド駆動式軽量歩行ロボットの開発 (2010)
  • Author(s): 玄相昊, 森本淳
  • Organizer: 第11回計測自動制御学会システムインテグレーション部門講演会
  • Place of Presentation: 東北大学(宮城)
  • Year and Date: 2010-12-23
• [Presentation] Reinforcement learning for balancer embedded humanoid locomotion (2010)
  • Author(s): Yamaguchi, A., Hyon, S., Ogasawara, T.
  • Organizer: IEEE-RAS International Conference on Humanoid Robots
  • Place of Presentation: Nashville, USA
  • Year and Date: 2010-12-06
• [Presentation] Learning Parametric Dynamic Movement Primitives from Multiple Demonstrations (2010)
  • Author(s): Matsubara, T., Hyon, S., Morimoto, J.
  • Organizer: 17th International Conference on Neural Information Processing
  • Place of Presentation: Sydney, Australia
  • Year and Date: 2010-11-22
• [Presentation] Learning and Adaptation of a Stylistic Myoelectric Interface : EMG-based Robotic Control with Individual User Differences (2010)
  • Author(s): Matsubara, T., Hyon, S., Morimoto, J.
  • Organizer: IEEE International Conference on Robotics and Biomimetics
  • Place of Presentation: Phuket Island, Thailand
  • Year and Date: 2010-11-07
• [Presentation] 規範軌道の多様性を考慮した非線形力学系による運動記述の学習法:ロボットによる見まね学習への応用 (2010)
  • Author(s): 松原崇充, 玄相昊, 森本淳
  • Organizer: 第13回情報論的学習理論ワークション(IBIS 2010),信学技法,東京大学生産技術研究所
  • Place of Presentation: 東京都
  • Year and Date: 2010-11-05
• [Presentation] ヒトと運動アシストロボットにおける共通の状態空間の抽出:外骨格ロボット制御への応用 (2010)
  • Author(s): 森本淳, 野田智之, 玄相昊
  • Organizer: 第13回情報論的学習理論ワークション(IBIS 2010),信学技法,東京大学生産技術研究所
  • Place of Presentation: 東京都
  • Year and Date: 2010-11-04
• [Presentation] 規範軌道の多様性を考慮した非線形力学系による運動記述の学習法:ロボットによる見まね学習への応用 (2010)
  • Author(s): 松原崇充, 玄相昊, 森本淳
  • Organizer: 第13回情報論的学習理論ワークショップ
  • Place of Presentation: 東京大学(東京)
  • Year and Date: 2010-11-04
• [Presentation] ヒトと運動アシストロボットにおける共通の状態空間の抽出:外骨格ロボット制御への応用 (2010)
  • Author(s): 森本淳, 野田智之, 玄相昊
  • Organizer: 第13回情報論的学習理論ワークショップ
  • Place of Presentation: 東京大学(東京)
  • Year and Date: 2010-11-04
• [Presentation] Learning stylistic dynamic movement primitives from multiple demonstrations (2010)
  • Author(s): Matsubara, T., Hyon, S., Morimoto, J.
  • Organizer: IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Taipei, Taiwan
  • Year and Date: 2010-10-18
• [Presentation] パラメトリック運動学習プリミティブ:規範軌道の多様性を考慮した見まね学習 (2010)
  • Author(s): 松原崇充, 玄相昊, 森本淳
  • Organizer: 第28回日本ロボット学会学術講演会(RSJ 2010)
  • Place of Presentation: 名古屋工業大学(愛知県)
  • Year and Date: 2010-09-22
• [Presentation] パラメトリック運動学習プリミティブ:規範軌道の多様性を考慮した見まね学習 (2010)
  • Author(s): 松原崇充, 玄相昊, 森本淳
  • Organizer: 第28回日本ロボット学会学術講演会
  • Place of Presentation: 名古屋工業大学(愛知)
  • Year and Date: 2010-09-22
• [Presentation] 模倣学習のための明確なラベル付けのない運動プリミティブの抽出 (2010)
  • Author(s): 有木由香, 森本淳, 玄相昊
  • Organizer: 第33回日本神経科学会(Neuroscience 2010)
  • Place of Presentation: 神戸コンベンションセンター(兵庫県)
  • Year and Date: 2010-09-03
• [Presentation] On-line stylistic prediction for human periodic motions (2010)
  • Author(s): Matsubara, T., Hyon, S., Morimoto, J.
  • Organizer: 第33回日本神経科学会(Neuroscience 2010)
  • Place of Presentation: 神戸コンベンションセンター(兵庫県)
  • Year and Date: 2010-09-02
• [Presentation] eMOSAIC Model for Humanoid Robot Control (2010)
  • Author(s): Sugimoto, N., Morimoto, J.Hyon, S., Kawato, M.
  • Organizer: From Animals to Animats 11 : 11th International Conference on Simulation of Adaptive Behavior
  • Place of Presentation: Paris, France
  • Year and Date: 2010-08-24
• [Presentation] From compliant balancing to dynamic walking on humanoid robot : Integration of CNS and CPG (2010)
  • Author(s): Hyon, S., Morimoto, J., Kawato, M.
  • Organizer: IEEE International Conference on Robotics and Automation
  • Place of Presentation: Anchorage, USA
  • Year and Date: 2010-05-03
• [Presentation] Active force control for compliant hydraulic robots (2010)
  • Author(s): Hyon, S.
  • Organizer: IEEE International Conference on Robotics and Automation, Workshop
  • Place of Presentation: Anchorage, USA(Invited)
  • Year and Date: 2010-05-03
• [Presentation] Learning external forces for human-humanoid interaction (2009)
  • Author(s): Hyon, Sang-Ho
  • Organizer: 3rd Workshop for Young Researchers on Human-Friendly Robotics
  • Place of Presentation: Fondazione Mediaterraneo,Genoa (Italy)
  • Year and Date: 2009-12-03
• [Presentation] 部分空間法と重力補償による運動アシストのモデル推定 (2009)
  • Author(s): 玄相昊
  • Organizer: 第27回日本ロボット学会学術講演会
  • Place of Presentation: 横浜国立大学(横浜)
  • Year and Date: 2009-09-15
• [Presentation] Invariant manifold of symmetric orbits and its application toward globally optimal gait generation for biped locomotion (2009)
  • Author(s): Hyon, Sang-Ho
  • Organizer: 9th International IFAC Symposium on Robot Control
  • Place of Presentation: 長良川コンベンションセンター(岐阜県)
  • Year and Date: 2009-09-10