Dynamic Motion Imitation of Inverted-Pendulum Mobile Robot in Human Symbiotic Environment

• Project/Area Number: 22700201
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: University of Fukui
• Principal Investigator: TAKAHASHI Yasutake 福井大学, 大学院・工学研究科, 講師 (90324798)
• Project Period (FY): 2010 – 2011
• Project Status: Completed (Fiscal Year 2011)
• Budget Amount: ¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000); Fiscal Year 2011: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000); Fiscal Year 2010: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
• Keywords: 知能ロボット / 模倣 / 倒立二輪型ロボット / 動作模倣 / 行動学習 / 倒立二輪型移動ロボット / 人間共生環境 / 方策勾配法 / 強化学習

Research Abstract

This research aims to realize imitation of dynamic motion that a human player shows in sports by an inverted-pendulum mobile robot in a human symbiotic environment. An inverted-pendulum mobile robot observes human demonstration with a video camera or a simple motion capture system and estimates the posture of each human links. It maps the links to its own two links and estimates link posture trajectories during the motion. The robot starts learning kicking to fit the motion to itself for the imitation. Learning performance from observation is investigated with computational simulations.

Research Products

• [Journal Article] Kicking Motion Imitation of Inverted-Pendulum Mobile Robot and Development of Body Mapping from Human Demonstrator
  • Author(s): Sataya TAKAHASHI, Yasutake TAKAHASHI, Yoichiro MAEDA, Takayuki NAKAMURA
  • Journal Title: Journal of Advanced Computational Intelligence and Intelligent Informatics Volume: Vol.15, No.8 Pages: 1030-1038
  • Peer Reviewed
• [Presentation] Body Mapping from Human Demonstrator to Inverted-Pendulum Mobile Robot for Learning from Observation (2012)
  • Author(s): Yasutake TAKAHASHI, Tatsuya KIMURA, Yoichiro MAEDA, and Takayuki NAKAMURA
  • Organizer: 2012 IEEE World Congress on Computational Intelligence
  • Place of Presentation: International Conference Center, Brisbane, Australia
  • Year and Date: 2012-06-12
• [Presentation] 倒立二輪型移動ロボットによる人間の動的動作模倣のための身体部位マッピング (2011)
  • Author(s): 高橋佐多弥,木村竜也,野々下博昭,高橋泰岳,前田陽一郎,中村恭之
  • Organizer: 第27回ファジィシステムシンポジウム
  • Place of Presentation: 福井大学(福井県)
  • Year and Date: 2011-09-13
• [Presentation] Development of Body Mapping from Human Demonstrator to Inverted-Pendulum Mobile Robot for Imitation (2011)
  • Author(s): Sataya Takahashi, Yasutake TAKAHASHI, Yoichiro Maeda, Takayuki NAKAMURA
  • Organizer: 2011 IEEE International Conference on Fuzzy Systems
  • Place of Presentation: Grand Hyatt Taipei
  • Year and Date: 2011-06-29
• [Presentation] Development of Body Mapping from Human Demonstrator to Inverted-Pendulum Mobile Robot for Imitation (2011)
  • Author(s): Sataya Takahashi, Yasutake TAKAHASHI, Yoichiro Maeda, Takayuki NAKAMURA
  • Organizer: 2011 IEEE International Conference on Fuzzy Systems
  • Place of Presentation: Grand Hyatt Taipei, Taipei, Taiwan
  • Year and Date: 2011-06-29
• [Presentation] 倒立二輪型移動ロボットによる人間の動的動作模倣のための身体部位マッピンク (2011)
  • Author(s): 高橋佐多弥,高橋泰岳,前田陽一郎,中村恭之
  • Organizer: 2011年度人工知能学会全国大会(第25回) JSAI2011
  • Place of Presentation: アイーナいわて県民情報交流センター(岩手県)
  • Year and Date: 2011-06-03
• [Presentation] 倒立二輪型移動ロボットによる人間の動的動作模倣のための身体部位マッピンク (2011)
  • Author(s): 高橋佐多弥, 高橋泰岳, 前田陽一郎, 中村恭之
  • Organizer: 2011年度人工知能学会全国大会(第25回)JSAI2011
  • Place of Presentation: アイーナいわて県民情報交流センター(岩手県)
  • Year and Date: 2011-06-03
• [Presentation] Inverted-Pendulum Mobile Robot Motion Learning from Human Player Observation (2010)
  • Author(s): Sataya Takahashi, Hiroaki Nonoshita, Yasutake Takahashi, Yoichiro Maeda and Takayuki Nakamura
  • Organizer: Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems
  • Place of Presentation: 岡山コンベンションセンター(岡山県)
  • Year and Date: 2010-12-09
• [Presentation] 方策勾配法を用いた倒立振子型移動ロボットの蹴球動作学習 (2010)
  • Author(s): 野々下博昭,高橋泰岳,中村恭之,前田陽一郎
  • 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(愛知県)
  • Year and Date: 2010-09-22
• [Presentation] Behavioral Development of Ball Kicking Motion of a Two-wheeled Inverted Pendulum Mobile Robot (2010)
  • Author(s): Yasutake Takahashi, Hiroaki Nonoshita, Takayuki Nakamura, Yoichiro Maeda
  • Organizer: 2010 IEEE World Congress on Computational Intelligence
  • Place of Presentation: Centre de Convencions Internacional de Barcelona, Spain
  • Year and Date: 2010-07-19
• [Presentation] Behavioral Development of Ball Kicking Motion of a Two-wheeled Inverted Pendulum Mobile Robot (2010)
  • Author(s): Yasutake Takahashi, Hiroaki Nonoshita, Takayuki Nakamura, Yoichiro Maeda
  • Organizer: 2010 IEEE World Congress on Computational Intelligence
  • Place of Presentation: Centre de Convencions Internacional de Barcelona (Spain)
  • Year and Date: 2010-07-19