A study on mapping between external environment and internal state based on perceptual constancy and its application a robot.

• Project/Area Number: 21700219
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: Nihon University (2010); Tokyo Institute of Technology (2009)
• Principal Investigator: GOUKO Manabu Nihon University, 工学部, 助教 (30447560)
• Project Period (FY): 2009 – 2011
• Project Status: Completed (Fiscal Year 2010)
• Budget Amount: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000); Fiscal Year 2010: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000); Fiscal Year 2009: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
• Keywords: 行動環境認識 / 知覚の恒常性 / アクティヴパーセプション / 移動ロボット / 知覚 / 恒常性 / ロボット / アフォーダンス / 生態心理学

Research Abstract

We present a state representation model based on change in sensory information. The results of experiments on a real mobile robot show the effectiveness of our method, and a comparison between our method and a conventional one shows that ours has higher performance.

Research Products

• [Journal Article] Environmental modeling and identification based on changes in sensory information (2010)
  • Author(s): Manabu Gouko, Koji Ito
  • Journal Title: Lecture Note Lecture Notes in Computer Science vol.6260 Pages: 3-19
  • Peer Reviewed
• [Journal Article] Behavior emergence model based on change in sensory information and its application to multiple tasks (2010)
  • Author(s): Manabu Gouko, Naoki Tomi, Tomoaki Nagano, Koji Ito
  • Journal Title: International Journal of Robotics and Automation vol.25, no.1 Pages: 57-66
  • Peer Reviewed
• [Journal Article] Environmental modeling and identification based on changes in sensory information (2010)
  • Author(s): M.Gouko, K.Ito
  • Journal Title: Lecture Note Lecture Notes in Computer Science Volume: VOL.6260 Pages: 3-19
  • Peer Reviewed
• [Journal Article] Behavior emergence model based on change in sensory information and its application to multiple tasks (2010)
  • Author(s): 郷古学
  • Journal Title: International Journal of Robotics and Automation (In press)
  • Peer Reviewed
• [Journal Article] 状態パターンの変化にもとづく行動生成モデル (2009)
  • Author(s): 郷古学, 登美直樹, 長野智晃, 伊藤宏司
  • Journal Title: 電気学会論文誌C vol.129, no.9, sec.C Pages: 1690-1698
  • NAID: 10025101941
  • Peer Reviewed
• [Journal Article] センサ情報の変化量を利用した移動ロボットによる環境のモデル化と識別 (2009)
  • Author(s): 郷古学, 伊藤宏司
  • Journal Title: 電子情報通信学会論文誌A vol.J92-A, no.7 Pages: 498-506
  • NAID: 110007333625
  • Peer Reviewed
• [Journal Article] センサ情報の変化量を利用した移動ロボットによる環境のモデル化と識別, pp.498-506 (2009)
  • Author(s): 郷古学
  • Journal Title: 電子情報通信学会論文誌A vol.J92-A, no.7 Pages: 498-506
  • Peer Reviewed
• [Journal Article] 状態パターンの変化にもとづく行動生成モデル (2009)
  • Author(s): 郷古学
  • Journal Title: 電気学会論文誌C vol.129, no.9 Pages: 1690-1698
  • NAID: 10025101941
  • Peer Reviewed
• [Presentation] 能動的な動きにもとづく不変量を用いた状態表現 (2010)
  • Author(s): 郷古学, 小林祐一
  • 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(仙台)
  • Year and Date: 2010-12-23
• [Presentation] State representation with perceptual constancy based on active motion (2010)
  • Author(s): M.Gouko, Y.Kobayashi
  • Organizer: International Conference on Social Robotics 2010
  • Place of Presentation: Holiday Inn Atrium Singapore(シンガポール)
  • Year and Date: 2010-11-23
• [Presentation] 恒常性を有するロボットの状態表現 (2010)
  • Author(s): 郷古学, 小林祐一
  • Organizer: 日本生態心理学会第3回大会
  • Place of Presentation: 京都ノートルダム女子大(京都市)
  • Year and Date: 2010-09-12
• [Presentation] 恒常性を実現する能動知覚と行動学習 (2010)
  • Author(s): 郷古学, 小林祐一
  • Organizer: ロボティクス・メカトロニクス講演会2010(ROBOMEC2010)
  • Place of Presentation: 旭川大雪アリーナ(旭川市)
  • Year and Date: 2010-06-16
• [Presentation] A fundamental study of a state representation using f-divergence (2010)
  • Author(s): M.Gouko, K.Ito
  • Organizer: 4th International Symposium on Measurement, Analysis and Modelling of Human Functions
  • Place of Presentation: Czech Technical University(プラハ)
  • Year and Date: 2010-06-15
• [Presentation] 能動的な動きにもとづく知覚の恒常性の実現と行動学習 (2010)
  • Author(s): 郷古学, 小林祐一
  • Organizer: 第24回人工知能学会全国大会
  • Place of Presentation: 長崎ブリックホール(長崎市)
  • Year and Date: 2010-06-09
• [Presentation] Environmental modeling and identification for autonomous mobile robot (2009)
  • Author(s): 郷古学
  • Organizer: Proceedings of the 3rd International Symposium on Mobiligence
  • Place of Presentation: Awaji, Japan
  • Year and Date: 2009-11-19
• [Presentation] Environmental modeling and identification based on changes in sensory information (2009)
  • Author(s): 郷古学
  • Organizer: 2009 International Conference on Adaptive and Intelligent Systems(ICAIS 2009)
  • Place of Presentation: Klagenfurt, Austria
  • Year and Date: 2009-09-24
• [Presentation] f-divergence を用いた状態表現に関する基礎的研究 (2009)
  • Author(s): 郷古学
  • 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
  • Year and Date: 2009-09-16
• [Presentation] Environmental identification based on changes in sensory information (2009)
  • Author(s): 郷古学
  • Organizer: 14th International Conference on Advanced Robotics(ICAR2009)
  • Place of Presentation: Munich, Germany
  • Year and Date: 2009-06-25
• [Presentation] 能動的な動きにもとづく環境のモデル化と識別
  • Author(s): 郷古学, 伊藤宏司
  • Organizer: 第4回移動知シンポジウム2009,ポスター発表
• [Presentation] Environmental modeling and identification for autonomous mobile robot
  • Author(s): Manabu Gouko, Koji Ito
  • Organizer: Proceedings of the 3rd International Symposium on Mobiligence 2009(pp.119-124)
• [Presentation] Environmental modeling and identification based on changes in sensory information
  • Author(s): Manabu Gouko, Koji Ito
  • Organizer: Proceedings of the 2009 International Conference on Adaptive and Intelligent Systems (ICAIS 2009)(pp.79-85.)
• [Presentation] Environmental identification based on changes in sensory information
  • Author(s): Manabu Gouko, Koji Ito
  • Organizer: Proceedings of the 14th International Conference on Advanced Robotics (ICAR2009)(pp.1-7)