Generalization of state-action space using properties of the real world and its application to autonomous robots

• Project/Area Number: 24500181
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Intelligent informatics
• Research Institution: Hosei University
• Principal Investigator: ITO Kazuyuki 法政大学, 理工学部, 准教授 (90346411)
• Project Period (FY): 2012-04-01 – 2015-03-31
• Project Status: Completed (Fiscal Year 2014)
• Budget Amount: ¥5,200,000 (Direct Cost: ¥4,000,000、Indirect Cost: ¥1,200,000); Fiscal Year 2014: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000); Fiscal Year 2013: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000); Fiscal Year 2012: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
• Keywords: 汎化 / 抽象化 / 状態行動空間 / 環境の普遍的性質 / タコ型マニピュレータ / レスキューロボット / 合流制御 / レスキューマニピュレータ / 音源定位 / 状態行動空間の抽象化 / 強化学習 / タコ型ロボット / アメンボ型ロボット / 衝突防止

Outline of Final Research Achievements

In this research, we proposed a novel framework for generalization and abstraction on the basis of intelligent behaviors of animals. In this framework, generalization and abstraction is realized by utilizing the properties of the real world. It is completely different from conventional statistics based approach. By the proposed framework, robots can behave adaptively in complex unknown environments.

Research Products

• [Journal Article] Proposal of semiautonomous centipede-like robot for rubbles (2014)
  • Author(s): Kazuyuki Ito, Shota Kashiwada
  • Journal Title: Journal “Artificial Life and Robotics” Volume: 19-4 Issue: 4 Pages: 400-405
  • DOI: 10.1007/s10015-014-0181-x
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Sound source detection robot inspired by water striders (2014)
  • Author(s): Kazuyuki Ito, Hiroki Nakatsuka
  • Journal Title: Journal “Artificial Life and Robotics” Volume: 19-4 Issue: 4 Pages: 394-399
  • DOI: 10.1007/s10015-014-0180-y
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Importance of real-world properties in chasing task -Simulation and analysis of dragonfly’s behavior- (2014)
  • Author(s): Kazuyuki Ito, Naoyuki Sakuraba
  • Journal Title: Journal “Artificial Life and Robotics” Volume: 19-4 Issue: 4 Pages: 370-374
  • DOI: 10.1007/s10015-014-0176-7
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Development of semi-circular duplex manipulator for search and rescue operations in narrow spaces (2014)
  • Author(s): Kazuyuki Ito, Yuya Simodate
  • Journal Title: International Journal of Advanced Mechatronic Systems Volume: 6-1 Pages: 1-11
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Development of flexible joints for a humanoid robot that walks on an oscillating plane (2014)
  • Author(s): Kazuyuki ito, Takehiro Yoneyama
  • Journal Title: Journal “Artificial Life and Robotics” Volume: 19-3 Issue: 3 Pages: 305-309
  • DOI: 10.1007/s10015-014-0156-y
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Control of multi-legged robot using reinforcement learning with body image and application to rubble (2013)
  • Author(s): K. Nishigai, H. Nakatsuka and K. Ito
  • Journal Title: Int. J. Advanced Mechatronic Systems Volume: 5 Pages: 243-256
• [Journal Article] 知的な振る舞いの発現におけるアクチュエータの役割 (2012)
  • Author(s): 伊藤一之, 小安達哉
  • Journal Title: 知能と情報(日本知能情報ファジィ学会誌) Volume: 24 Pages: 627-636
  • NAID: 130002096906
  • Peer Reviewed
• [Journal Article] 接触までの残り時間τを用いた群行動の維持（光源を搭載した移動ロボット群への適用） (2012)
  • Author(s): 伊藤一之, 宮川陽太, 近藤雄太, 山下武尊
  • Journal Title: 日本機械学会論文集C編 Volume: 77 Pages: 4641-4652
  • NAID: 130002051266
• [Presentation] Flexible Manipulator Inspired by Octopus -Development of Soft Arms Using Sponge- (2015)
  • Author(s): Shunsuke Hagimori, Kazuyuki Ito
  • Organizer: Proc. of The Seventh International Conference on Advanced Cognitive Technologies and Applications (COGNITIVE 2015)
  • Place of Presentation: ニース （フランス）
  • Year and Date: 2015-03-22 – 2015-03-27
• [Presentation] Passive stabilizing mechanism for snake-like rescue robot (2014)
  • Author(s): Yuichi Kawai, Kazuyuki Ito, Hirotsugu Aoki
  • Organizer: Proc. of Int. Conf. on Control, Automation, Robotics and Vision
  • Place of Presentation: マリーナベイサンズ （シンガポール）
  • Year and Date: 2014-12-10 – 2014-12-12
• [Presentation] Estimation Method for Time to Contact from Visual Information - A Simple Approach That Requires No Recognition of Objects - (2014)
  • Author(s): Yuichi. Kawai and Kazuyuki Ito
  • Organizer: Proc. of IEEE Int. Conf. on Robotics and Biomimetics
  • Place of Presentation: バリ （インドネシア）
  • Year and Date: 2014-12-05 – 2014-12-10
• [Presentation] Semi-autonomous Centipede-like Robot with Flexible Legs (2014)
  • Author(s): Masahiro Masuda, Kazuyuki Ito
  • Organizer: Proc. of IEEE International Symposium on Safety, Security and Rescue Robotics
  • Place of Presentation: 洞爺湖文化センター（北海道虻田郡洞爺湖町）
  • Year and Date: 2014-10-27 – 2014-10-30
• [Presentation] Proposal for Semiautonomous Centipede-like Robot for Rubble -Development of an Actual Scale Robot and Validation of its Mobility- (2014)
  • Author(s): Yasunori Ishigaki, Kazuyuki Ito
  • Organizer: Proc. of The 2014 International Conference on Advanced Mechatronic Systems
  • Place of Presentation: 東海大学熊本キャンパス（熊本県熊本市）
  • Year and Date: 2014-08-10 – 2014-08-12
• [Presentation] Collision Estimation Using Single Camera -Discussion under the condition of constant velocity- (2014)
  • Author(s): Ryunosuke Ikeno, Kazuyuki Ito
  • Organizer: Proc. of The Third International Conference on Intelligent Systems and Applications(INTELLI2014)
  • Place of Presentation: セビリア （スペイン）
  • Year and Date: 2014-06-22 – 2014-06-26
• [Presentation] Velocity Estimation from Visual Information using Environmental Property (2014)
  • Author(s): Hitoki Takase, Kazuyuki Ito
  • Organizer: Proc. of The Third International Conference on Intelligent Systems and Applications(INTELLI2014)
  • Place of Presentation: セビリア （スペイン）
  • Year and Date: 2014-06-22 – 2014-06-26
• [Presentation] Importance of the real-world properties in chasing task - Simulation and analysis of dragonfly’s behavior- (2014)
  • Author(s): Naoyuki Sakuraba, Kazuyuki Ito
  • Organizer: International Symposium on Artificial Life and Robotics
  • Place of Presentation: Oita, Japan
• [Presentation] Application of Hearing Sense Assistance System to Three-dimensional Rescue Manipulator and Demonstration of Its Effectiveness (2013)
  • Author(s): Motoki Mizutani, Yuya Shimodate，Kazuyuki Ito
  • Organizer: IEEE International Symposium on Safety, Security, and Rescue Robotics
  • Place of Presentation: Linkoping, Sweden
• [Presentation] Proposal of crash avoidance algorithm with use of the tau-margin (2013)
  • Author(s): Yuichi Kawai, Kazuyuki Ito
  • Organizer: International Conference on Intelligent Systems and Applications
  • Place of Presentation: Venice, Italy
• [Presentation] 操作性を考慮した半自律レスキューロボット (2013)
  • Author(s): 伊藤一之
  • Organizer: レスキュー工学シンポジウム
  • Place of Presentation: 東京都立産業技術高等専門学校（東京都）
  • Invited
• [Presentation] 操作性を考慮した生存者探査ロボットの開発 (2013)
  • Author(s): 伊藤一之
  • Organizer: 第8回竸基弘賞授賞式受賞記念講演
  • Place of Presentation: 神戸国際会議場（兵庫県）
  • Invited
• [Presentation] Recipe search engine inspired by ant colony’s foraging (2013)
  • Author(s): Jinwook KIM, Kazuyuki ITO, and Katsunori TACHIBANA
  • Organizer: International Symposium on Artificial Life and Robotics
  • Place of Presentation: Daejeon, Korea
• [Presentation] Development of autonomous snake-like robot for use in rubble (2012)
  • Author(s): M. Mizutani, H. Maruyama, K. Ito
  • Organizer: IEEE International Symposium on Safety, Security
  • Place of Presentation: College Station, Texas, USA
• [Presentation] Control of Multi-legged Robot Using Reinforcement Learning with Body Image -Realization of generalization capability by utilizing properties of the body- (2012)
  • Author(s): Kazuya Nishigai, Hiroki Nakatsuka and Kazuyuki Ito
  • Organizer: IEEE Internationalnal Conference on Advanced Mechatronicc Systems
  • Place of Presentation: Tokyo, Japan
• [Presentation] Abstraction of state-action space utilizing properties of the body and the environment -Application to a 3-dimensional snake-like robot that operates on rubble- (2012)
  • Author(s): S. Kuroe, T. Kobayashi, K. Ito
  • Organizer: IEEE International Conference on Intelligent Systems
  • Place of Presentation: Sofia, Blugaria
• [Presentation] Sound Localization Assistance System to Pinpoint Survivors’ Locations during Rescue Operations (2012)
  • Author(s): Yuya SHIMODATE，Yuya HONDA，Kazuyuki ITO
  • Organizer: First International Symposium on Socially and Technically Symbiotic Systems
  • Place of Presentation: Okayama, Japan
• [Presentation] Hotel evaluation method inspired by group decision making in honey-bee swarm (2012)
  • Author(s): Arai T., Furuta T. and Ito K
  • Organizer: Information Society (i-Society)
  • Place of Presentation: London, UK
• [Presentation] Role of real-world properties in the Baldwin effect (2012)
  • Author(s): D. Watanabe, K. Ito
  • Organizer: IEEE Congress on Evolutionary Computation
  • Place of Presentation: Brisbane, Australia