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Creation of Developmental Object Recognition Mechanism and Motion Generation for Robot using Neural Network Model

Research Project

Project/Area Number 23800033
Research Category

Grant-in-Aid for Research Activity Start-up

Allocation TypeSingle-year Grants
Research Field Perception information processing/Intelligent robotics
Research InstitutionKyoto University

Principal Investigator

NISHIDE Shun  京都大学, 白眉センター, 特定助教 (30613400)

Project Period (FY) 2011 – 2012
Project Status Completed (Fiscal Year 2012)
Budget Amount *help
¥3,250,000 (Direct Cost: ¥2,500,000、Indirect Cost: ¥750,000)
Fiscal Year 2012: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2011: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Keywords神経回路モデル / 知能ロボット / 知能ロボティクス / 人工知能 / ニューラルネットワーク / アフォーダンス
Research Abstract

In this research, we realized autonomous extraction of object recognition features and tool using motion generation based on object manipulation task of a robot. A recurrent neural network was utilized as the robot’s body model to learn the robot’s motions and the environmental change. During tool using experiments, the robot was capable of identifying the untrained L-shaped tool based on experiences with T- and I-shaped tools, to generate pulling motions for a target object.

Report

(3 results)
  • 2012 Annual Research Report   Final Research Report ( PDF )
  • 2011 Annual Research Report
  • Research Products

    (35 results)

All 2013 2012 2011 Other

All Journal Article (6 results) (of which Peer Reviewed: 6 results) Presentation (28 results) Remarks (1 results)

  • [Journal Article] Tool-Body Assimilation of Humanoid Robt using Neuro-Dynamical System2012

    • Author(s)
      Shun Nishide, J.Tani, Takahashi, H.G.Okuno, T.Ogata
    • Journal Title

      IEEE Transactions on Autonomous Mental Development

      Volume: 4 Issue: 2 Pages: 139-149

    • DOI

      10.1109/tamd.2011.2177660

    • Related Report
      2012 Final Research Report
    • Peer Reviewed
  • [Journal Article] Tool-Body Assimilation of Humanoid Robot Using a Neurodynamical System2012

    • Author(s)
      Shun Nishide, Jun Tani, Toru Takahashi, Hiroshi G. Okuno, Tetsuya Ogata
    • Journal Title

      IEEE Transactions on Autonomous Mental Development

      Volume: 4 Pages: 139-149

    • Related Report
      2012 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Towards Written Text Recognition based on Handwriting Experiences using Recurrent Neural Network2011

    • Author(s)
      Shun Nishide, Jun Tani, Hiroshi G. Okuno, Tetsuya Ogata
    • Journal Title

      Advanced Robotics

      Volume: Vol. 25 Pages: 2173-2187

    • NAID

      10031135676

    • Related Report
      2012 Final Research Report
    • Peer Reviewed
  • [Journal Article] Classification of Known and Unknown Environmental Sounds based on Self-organized Space using Recurrent Neural Network2011

    • Author(s)
      Zhang Yang, Tetsuya Ogata, S.Nishide, T.Takahashi, H.G.Okuno
    • Journal Title

      Advanced Robotics

      Volume: Vol.25,No.7 Issue: 17 Pages: 2127-2141

    • DOI

      10.1163/016918611x595017

    • NAID

      10031135674

    • Related Report
      2012 Final Research Report 2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Towards Written Text Recognition based on Handwriting Experiences using Recurrent Neural Network2011

    • Author(s)
      Shun Nishide, Jun Tani, Hiroshi G.Okuno, Tetsuya Ogata
    • Journal Title

      Advanced Robotics

      Volume: 25 Issue: 17 Pages: 2173-2187

    • DOI

      10.1163/016918611x595026

    • NAID

      10031135676

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Tool-Body Assimilation of Humanoid Robot using Neuro-Dynamical System

    • Author(s)
      Shun Nishide, Jun Tani, Toru Takahashi, Hiroshi G.Okuno, Tetsuya Ogata
    • Journal Title

      IEEE Trans.on Autonomous Mental Development

      Volume: (印刷中)

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Presentation] 再帰結合神経回路モデルを用いた予測可能性による段階的対象選択学習2013

    • Author(s)
      信田 春満, 西出 俊, 奥乃 博, 尾形 哲也
    • Organizer
      情報処理学会第75回全国大会
    • Place of Presentation
      仙台 (東北大学 川内キャンパス)
    • Related Report
      2012 Annual Research Report
  • [Presentation] 神経回路モデルを用いたロボットの描画運動における発達的模倣学習2013

    • Author(s)
      望月 敬太, 西出 俊, 奥乃 博, 尾形 哲也
    • Organizer
      情報処理学会第75回全国大会
    • Place of Presentation
      仙台 (東北大学 川内キャンパス)
    • Related Report
      2012 Annual Research Report
  • [Presentation] 多層神経回路モデルによる共感覚現象の学習と連想2013

    • Author(s)
      山口 雄紀, 野田 邦昭 西出 俊, 奥乃 博, 尾形 哲也
    • Organizer
      情報処理学会第75回全国大会
    • Place of Presentation
      仙台 (東北大学 川内キャンパス)
    • Related Report
      2012 Annual Research Report
  • [Presentation] Developmental Human-Robot Imitation Learning with Phased Structuring in Neuro Dynamical System2012

    • Author(s)
      Keita Mochizuki, Harumitsu Nobuta, Shun Nishide, Hiroshi G. Okuno, Tetsuya Ogata
    • Organizer
      IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop on Cognitive Neuroscience Robotics
    • Place of Presentation
      Vilamoura, Algarve, PORTUGAL
    • Year and Date
      2012-10-12
    • Related Report
      2012 Final Research Report
  • [Presentation] Tool-Body Assimilation Model using Neuro-Dynamical System for Acquiring Representation of Tool Function2012

    • Author(s)
      Yuki Yamaguchi, Harumitsu Nobuta, Shun Nishide, Hiroshi G. Okuno, Tetsuya Ogata
    • Organizer
      IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop on Cognitive Neuroscience Robotics
    • Place of Presentation
      Vilamoura, Algarve, PORTUGAL
    • Year and Date
      2012-10-12
    • Related Report
      2012 Final Research Report
  • [Presentation] 柔軟関節をもつ人間型ロボットにおける神経力学モデルを用いたダイナミック動作の模倣2012

    • Author(s)
      壷内将之, 尾形哲也, 奥乃博, 西出俊, 信田春満
    • Organizer
      情報処理学会第74回全国大会
    • Place of Presentation
      名古屋
    • Year and Date
      2012-03-08
    • Related Report
      2011 Annual Research Report
  • [Presentation] 段階的に構造化する神経回路モデルを用いたロボットで人間の発達的インタラクション2012

    • Author(s)
      望月敬太, 信田春満, 西出俊, 奥乃博, 尾形哲也
    • Organizer
      情報処理学会第74回全国大会
    • Place of Presentation
      名古屋
    • Year and Date
      2012-03-08
    • Related Report
      2011 Annual Research Report
  • [Presentation] 神経回路モデルを用いた道具身体化モデルによる道具機能表現の獲得2012

    • Author(s)
      山口雄紀, 信田春満, 西出俊, 奥乃博, 尾形哲也
    • Organizer
      情報処理学会第74回全国大会
    • Place of Presentation
      名古屋
    • Year and Date
      2012-03-07
    • Related Report
      2011 Annual Research Report
  • [Presentation] Self-organization of Object Features Representing Motion Using Multiple Timescales Recurrent Neural Network2012

    • Author(s)
      Shun Nishide, Jun Tani, Hiroshi G. Okuno, Tetsuya Ogata
    • Organizer
      International Joint Conference on Neural Networks
    • Place of Presentation
      Brisbane, AUSTRALIA
    • Related Report
      2012 Final Research Report
  • [Presentation] Body area segmentation from visual scene based on predictability of neuro-dynamical system2012

    • Author(s)
      Harumitsu Nobuta, Kenta Kawamoto, Kuniaki Noda, Kohtaro Sabe, Shun Nishide, Hiroshi G. Okuno, Tetsuya Ogata
    • Organizer
      International Joint Conference on Neural Networks
    • Place of Presentation
      Brisbane, AUSTRALIA
    • Related Report
      2012 Final Research Report
  • [Presentation] Developmental Human-Robot Imitation Learning with Phased Structuring in Neuro Dynamical System2012

    • Author(s)
      Keita Mochizuki Harumitsu Nobuta, Shun Nishide, Hiroshi G. Okuno, Tetsuya Ogata
    • Organizer
      IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop on Cognitive Neuroscience Robotics
    • Place of Presentation
      ポルトガル、アルガーブ、ヴィラモウラ (Hotel Tivoli Marina Vilamoura)
    • Related Report
      2012 Annual Research Report
  • [Presentation] Tool-Body Assimilation Model using Neuro-Dynamical System for Acquiring Representation of Tool Function2012

    • Author(s)
      Yuki Yamaguchi Harumitsu Nobuta, Shun Nishide, Hiroshi G. Okuno, Tetsuya Ogata
    • Organizer
      IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop on Cognitive Neuroscience Robotics
    • Place of Presentation
      ポルトガル、アルガーブ、ヴィラモウラ (Hotel Tivoli Marina Vilamoura)
    • Related Report
      2012 Annual Research Report
  • [Presentation] Self-organization of Object Features Representing Motion Using Multiple Timescales Recurrent Neural Network2012

    • Author(s)
      Shun Nishide, Jun Tani, Hiroshi G. Okuno, Tetsuya Ogata
    • Organizer
      International Joint Conference on Neural Networks
    • Place of Presentation
      オーストラリア、ブリズベン (International Convention Center)
    • Related Report
      2012 Annual Research Report
  • [Presentation] Body area segmentation from visual scene based on predictability of neuro-dynamical system2012

    • Author(s)
      Harumitsu Nobuta, Kenta Kawamoto, Kuniaki Noda, Kohtaro Sabe, Shun Nishide, Hiroshi G. Okuno, Tetsuya Ogata
    • Organizer
      International Joint Conference on Neural Networks
    • Place of Presentation
      オーストラリア、ブリズベン (International Convention Center)
    • Related Report
      2012 Annual Research Report
  • [Presentation] 再帰型神経回路モデルを用いた内発的動機付けによる身体モデルの優先的学習2012

    • Author(s)
      信田 春満, 西出 俊, 奥乃 博, 尾形 哲也
    • Organizer
      計測自動制御学会第13回システムインテグレーション部門講演会
    • Place of Presentation
      福岡 (福岡国際会議場)
    • Related Report
      2012 Annual Research Report
  • [Presentation] MTRNNを用いたロボットの物体操作における挙動表現特徴量の自己組織化2012

    • Author(s)
      西出 俊, 奥乃 博, 尾形 哲也
    • Organizer
      日本ロボット学会第30回学術講演会
    • Place of Presentation
      札幌 (札幌コンベンションセンター)
    • Related Report
      2012 Annual Research Report
  • [Presentation] 神経力学モデルによる自己身体領域抽出と視覚運動系の自己組織化2012

    • Author(s)
      信田 春満, 河本 献太, 野田 邦昭, 佐部 浩太郎 西出 俊, 奥乃 博, 尾形 哲也
    • Organizer
      日本ロボット学会第30回学術講演会
    • Place of Presentation
      札幌 (札幌コンベンションセンター)
    • Related Report
      2012 Annual Research Report
  • [Presentation] 神経力学モデルを用いたロボットの道具身体化機構2012

    • Author(s)
      山口 雄紀, 信田 春満, 西出 俊, 奥乃 博, 尾形 哲也
    • Organizer
      日本ロボット学会第30回学術講演会
    • Place of Presentation
      札幌 (札幌コンベンションセンター)
    • Related Report
      2012 Annual Research Report
  • [Presentation] 発達的模倣学習における神経力学モデルの段階的構造化と獲得プリミティブの解析2012

    • Author(s)
      望月 敬太, 信田 春満, 西出 俊, 奥乃 博, 尾形 哲也
    • Organizer
      日本ロボット学会第30回学術講演会
    • Place of Presentation
      札幌 (札幌コンベンションセンター)
    • Related Report
      2012 Annual Research Report
  • [Presentation] Predicting Listener Back-Channels for Human-Agent Interaction using Neuro-dynamical Model2011

    • Author(s)
      Shotaro Sano, Shun Nishide, Hiroshi G.Okuno Tetsuya Ogata
    • Organizer
      IEEE/SICE International Symposium on System Integration
    • Place of Presentation
      京都
    • Year and Date
      2011-12-21
    • Related Report
      2011 Annual Research Report
  • [Presentation] Identification of self-body based on dynamic predictability using neuro-dynamical system2011

    • Author(s)
      Harumitsu Nobuta, Shun Nishide, Hiroshi G.Okuno, Tetsuya Ogata
    • Organizer
      IEEE/SICE International Symposium on System Integration
    • Place of Presentation
      京都
    • Year and Date
      2011-12-20
    • Related Report
      2011 Annual Research Report
  • [Presentation] Handwriting Prediction Based Character Recognition using Recurrent Neural Network2011

    • Author(s)
      Shun Nishide, Jun Tani, Hiroshi G. Okuno, Tetsuya Ogata
    • Organizer
      IEEE International Conference on Systems, Man, and Cybernetics
    • Place of Presentation
      Anchorage, U.S.A
    • Year and Date
      2011-10-12
    • Related Report
      2012 Final Research Report
  • [Presentation] Handwriting Prediction Based Character Recognition using Recurrent Neural Network2011

    • Author(s)
      Shun Nishide, Jun Tani, Hiroshi G.Okuno Tetsuya Ogata
    • Organizer
      IEEE International Conference on Systems Man and Cybernetics
    • Place of Presentation
      Anchorage, U.S.A.
    • Year and Date
      2011-10-12
    • Related Report
      2011 Annual Research Report
  • [Presentation] 対話データの再帰結合神経回路による学習と相槌タイミング予測2011

    • Author(s)
      佐野正太郎, 西出俊, 奥乃博, 尾形哲也
    • Organizer
      日本ロボット学会第29回大会
    • Place of Presentation
      東京
    • Year and Date
      2011-09-09
    • Related Report
      2011 Annual Research Report
  • [Presentation] 神経力学モデルによる身体図式に基づく空間地図の獲得2011

    • Author(s)
      信田春満, 西出俊, 奥乃傅, 尾形哲也
    • Organizer
      日本ロボット学会第29回大会
    • Place of Presentation
      東京
    • Year and Date
      2011-09-08
    • Related Report
      2011 Annual Research Report
  • [Presentation] Cluster Self-organization of Known and Unknown Environmental Sounds using Recurrent Neural Network2011

    • Author(s)
      Yang Zhang, Tetsuya Ogata, Shun Nishide, Toru Takahashi, Hiroshi G.Okuno
    • Organizer
      International Conference on Artificial Neural Networks
    • Place of Presentation
      Espoo, Finland
    • Year and Date
      2011-06-16
    • Related Report
      2011 Annual Research Report
  • [Presentation] Identification of self-body based dynamic predictability using neuro-dynamical system2011

    • Author(s)
      Harumitsu Nobuta, Shun Nishide, Hiroshi G, Okuno, Tetsuya Ogata
    • Organizer
      IEEE/SICE International Symposium on System Integration
    • Place of Presentation
      Kyoto, JAPAN
    • Related Report
      2012 Final Research Report
  • [Presentation] Use of a Sparse Structure to Improve Learning Performance of Recurrent Neural Network2011

    • Author(s)
      Hiromitsu Awano, Shun Nishide, Hiroaki Arie, Jun Tani, Toru Takahashi, Hiroshi G. Okuno, Tetsuya Ogata
    • Organizer
      International Conference on Neural Information Processing
    • Place of Presentation
      Shanghai, CHINA
    • Related Report
      2012 Final Research Report
  • [Remarks]

    • URL

      http://winnie.kuis.kyoto-u.ac.jp/members/nishide/

    • Related Report
      2012 Final Research Report

URL: 

Published: 2011-09-05   Modified: 2019-07-29  

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