2001 Fiscal Year Annual Research Report

知能ロボットによる模倣の構成論的研究

Research Project

Project/Area Number	13GS0006
Research Category	Grant-in-Aid for Creative Basic Research
Research Institution	The University of Tokyo
Principal Investigator	佐藤知正東京大学, 大学院・情報理工学系研究科, 教授 (50235371)
Co-Investigator(Kenkyū-buntansha)	森武俊東京大学, 大学院・情報学環, 講師 (20272586) 國吉康夫東京大学, 大学院・情報理工学系研究科, 助教授 (10333444) 稲葉雅幸東京大学, 大学院・情報学環, 教授 (50184726) 田所諭神戸大学, 工学部, 助教授 (40171730)
Keywords	構成論的アプローチ / ミメシス / 行動理解 / 動作認識 / 全身行動 / 観察学習 / 脳型認知モデル / 行為文脈
Research Abstract	模倣の原理とメカニズムを構成論的に解明するため,行動の観察と認識,行動の生成と修正,模倣の理論模倣システムの構築という4つの課題に分けて並列的に研究を進めた.本年度はこの各4つの課題において,型真似レベルの模倣をめざした. ・行動の観察と認識について,ロボットと人の協調行動を模倣により獲得し学習するシステムを考え,その構成要素となる物体位置センサ,センサネットワーク基盤の構築を進めた.また,基本的全身動作について人に近い認識結果を出力するアルゴリズムを人の内観調査に基づき構成した.一方,特に操作行動の認識機能に関し,物体認識に関わるV1,TEの組合せに相当する脳モデルを提示し,実験によりその有効性を示した. ・全身行動の生成について,人間型ロボットにおける全身行動開発環境としてモーションキャプチャデータに基づくロボット身体構造に依存しない動作生成,全身動作評価指標に基づく探索的手法による動作修正の試作システムを実現した. ・模倣理論の解明について,机上の物体操作に関わる行動の認識再生実験を行い,過去の学習事例に基づき観察事例の解釈や応答行動を変えるいわば文脈情報の利用例を構築した.また,模倣の発達機能に関し型真似学習機構を展開し,行為文脈の切替りを検出するためのニューラルネット的手法を構成した.感覚・運動・意図・環境の脳型統合認知モデルによる模倣について考察し,ウェーブレット変換,ファジィネットワーク,自己組織化マップを組み合わせたモデル生成も試みた. ・模倣のシステム構築については,人間型ロボットにおいて,物体操作行動を見て模倣し自分で行って学習するための,多指ハンドシステムを設計・試作した.また,一方の非人間型ロボットにおいては,足探り動作実験用ハードウェア,足裏圧力センサの設計・試作,生活支援ルームを想定した移動台車や家電取り付け型アームといったアクチュエーションモジュールを実現した.

Research Products
(28 results)

All Other

All Publications (28 results)

[Publications] T.Mori, K.Asaki, H.Noguchi, T.Sato: ""Accumulation and Summarization of Human Daily Action Data in One-Room-Type Sensing System""IEEE/RSJ Int.Conf.on Intelligent Robots and System (IROS 2001), PP2349-2354 (Oct.2001). 2349-2354 (2001)
[Publications] Taketoshi Mori, Kousuke Tsujioka, Tomomasa Sato: ""Human-like Action Recognition System on Whole Body Motion-captured File""IEEE/RSJ Int.Conf.on Intelligent Robots and Systems (IROS 2001). 2066-2073 (2001)
[Publications] Taketoshi Mon, Hiroshi Noguchi, Tomomasa Sato: ""Construction of Sensor Network System for Human Behavior Measurementand Accumulation via Distributed Objects""Proceedings of SPIE. 4571. 230-237 (2001)
[Publications] Taketoshi Mori, Masamichi Shimosaka, Tomomasa Sato:: ""Integrated Virtual Space Control System Utilizing Hand Gesture for Intelligent House""Proceedings of SPIE. 4571. 238-248 (2001)
[Publications] 稲葉雅幸: "脊椎を持つ全身型メカトロニック行動体"日本ロボット学会学会誌. Vol.19 No.7. 822-825 (2001)
[Publications] M.Inaba, I.Mizuuchi, R.Tajima, T.Yoshikai, K.Nagashima, H.Inoue: "Building Spined Mustle -Tendon Humanoid, Preprints of International"Symposium on Robotics Research (ISRR2001),. (2001)
[Publications] K.Okada, S.Kagami, M.Inaba, H.Inoue: ""Walking Human Avoidance and Detection from A Mobile Robot using 3D Depth Flow""Proc.of International Conference on Robotics and Automation (ICRA'01). 2307-2312 (2001)
[Publications] K.Okad, S.Kagami, M.Inaba, H.Inoue:: ""Plane Segment Finder : Algorithm""Proc.of International Conference on Robotics and Automation (ICRA'01),. 2120-2125 (2001)
[Publications] F.Kanehiro, M.Inaba, H.Inoue, H.Hirukawa, S.Hirai: "Developmental Software Environment that is applicable to Small-size Humanoids and life-size Humanoids"Proc.of IROS'O1. 4084-4089 (2001)
[Publications] S.Kagami, K.Nishiwaki, T.Sugihara, J.J.Kuffner, M.Inaba, H.Inoue.: "Design and Implementation of Software Research Platform for Humanoid Robotics : H6"Proceedings of International Conference on Robotics and Automation (ICRA'01),. 2431-2436 (2001)
[Publications] I.Mizuuchi, M.Inaba, H.Inoue: "A Flexible Spine Human-Form Robot -Development and Control of the Posture of the Spine"Proc.of IROS'01. 2099-2104 (2001)
[Publications] S.Kagami, J.J.Kuffner, K.Nishiwaki, T.Sugihara, T.Michikata, T.Aoyama, M.Inaba, H.Inoue.: "Design and Implementation of Remotely Operation Interface for Humanoid Robot"Proceedings of International Conference on Robotics and Automation (ICRA'01). 401-406 (2001)
[Publications] J.j.Kuffner, K.Nishiwaki, S.Kagami, M.Inaba, H.Inoue: "Motion Planning for Humanoid Robots Under Obstacle and Dynamic Balance Constraints"Proceedings of International Conference on Robotics and Automation (ICRA'01), 2001. 692-698 (2001)
[Publications] J.J.Kuffner, K.Nishiwaki, S.Kagami, M.Inaba, H.Inoue: "Footstep Planning Among Obstacles for Biped Robots"IEEE/RSJ Int.Conf.on Intelligent Robots and Systems (IROS'01). 500-505 (2001)
[Publications] K.Nishiwaki, T.Sugihara, S.Kagami, M.Inada, H.Inoue: "Realtime Generation of Humanoid Walking Trajectory by Mixture and Connection of Pre-designed Motions --Online Control by Footprint Sprcification --"Proc.of International Conference on Robotics. 4110-4115 (2001)
[Publications] 佐川立昌, 岡田慧, 加賀美聡, 稲葉雅幸, 井上博允: "漸増的メッシュモデリングとその階層的認識法による実時間三次元物体認識システムの研究"日本ロボット学会学会誌. Vol.20, No.1. 98-106 (2002)
[Publications] 中村仁彦, 比留川博久, 山根克, 梶田秀司, 横井一仁, 藤江正克, 高西淳夫, 藤原清司, 永嶋史朗, 村瀬有一, 稲葉雅幸, 井上博允: "仮想ロボットプラットフォーム"日本ロボット学会学会誌. Vol.19, No.1. 28-36 (2001)
[Publications] Yasuo Kuniyoshi, Gordon Cheng, Akihiko Nagakubo: "ETL-Humanoid : A Research Vehicle for Open-Ended Action Imitation"Proc.International Symposium of Robotics Research. Vol.1. 42-49 (2001)
[Publications] M.Asada, K.F.MacDorman, H.Ishiguro, Y.Kuniyoshi: "Cognitive developmental robotics as a new paradigm for the design of humanoid robots"Robotics and Autonomous Systems. vol.37,. 185-193 (2001)
[Publications] G.Cheng, A.Nagakubo, Y.Kuniyoshi: "Continuous Humanoid Interaction : An Integrated Perspective Gaining Adaptivity, Redundancy Flexibility -In One"Robotics and Autonomous Systems. Vol.37 No.2-3. 163-185 (2001)
[Publications] Tomoyuki Yamamoto, Yasuo Kuniyoshi: "Harnessing the robot's body dynamics : a global dynamics approach"Proc.of 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2001). Vol.1. 518-525 (2001)
[Publications] Akihiko Nagakubo, Yasuo Kuniyoshi, Gordon Cheng: "ETL-Humanoid -A High-Performance Full Body Humanoid System for Versatile Actions"Proc.of 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2001). Vol.1. 1087-1092 (2001)
[Publications] Satoshi Tadokoro, Toshi Takamori, Keisuke Oguro: "Application of the Nafion-platinum composite actuator, Proceedings of SPIE's 8th Annual International Symposium on Smart Structures and Materials"Conference onElectro-Active Polymer Actuators and Devices, Proceedings of SPIE (invited speech). Vol.〜4329. (2001)
[Publications] Masashi Konyo, Satoshi Tadokoro, Toshi Takamori, Keisuke Oguro: "EAP application to artificial tactile feel display of virtual reality, Proceedings of SPIE's 8th Annual International Symposium on Smart Structures and Materials"Conference on Electro-Active Polymer Actuators and Devices, Proceedings of SPIE. Vol.〜4329. 28-42 (2001)
[Publications] Satoshi Tadokoro, Toshi Takamori, Keisuke Oguro: "Modeling IPMC for design of actuation mechanisms, Electroactive Polymer(EAP) Actuators as Artificial Muscles, Reality and Science Fiction"Ed.Yoseph Bar-Cohen, SPIE. 331-366 (2001)
[Publications] Satoshi Tadokoro: "A virtual tactile feel display using ICPF actuators"US/Japan Workshop on Exoskeleton Technologies and EHPA Program Review, (invited speech). November28-30. (2001)
[Publications] 昆陽雅司, 田所諭, 高森年, 小黒啓介, 徳田献一: "高分子ゲルアクチュエータを用いた布の手触り感覚を提示する触感ディスプレイ"日本バーチャルリアリティ学会論文誌. Vol.6, No.4. 323-328 (2001)
[Publications] Satoshi Tadokoro, Masahiro Konyo: "IPMC-based artificial tactile feel display for virtual reality human interface"Artificial Muscle Conference (invited speech). (2002)

2001 Fiscal Year Annual Research Report

知能ロボットによる模倣の構成論的研究

Principal Investigator

佐藤 知正 東京大学, 大学院・情報理工学系研究科, 教授 (50235371)

Research Products

[Publications] T.Mori, K.Asaki, H.Noguchi, T.Sato: ""Accumulation and Summarization of Human Daily Action Data in One-Room-Type Sensing System""IEEE/RSJ Int.Conf.on Intelligent Robots and System (IROS 2001), PP2349-2354 (Oct.2001). 2349-2354 (2001)

[Publications] Taketoshi Mori, Kousuke Tsujioka, Tomomasa Sato: ""Human-like Action Recognition System on Whole Body Motion-captured File""IEEE/RSJ Int.Conf.on Intelligent Robots and Systems (IROS 2001). 2066-2073 (2001)

[Publications] Taketoshi Mon, Hiroshi Noguchi, Tomomasa Sato: ""Construction of Sensor Network System for Human Behavior Measurementand Accumulation via Distributed Objects""Proceedings of SPIE. 4571. 230-237 (2001)

[Publications] Taketoshi Mori, Masamichi Shimosaka, Tomomasa Sato:: ""Integrated Virtual Space Control System Utilizing Hand Gesture for Intelligent House""Proceedings of SPIE. 4571. 238-248 (2001)

[Publications] 稲葉雅幸: "脊椎を持つ全身型メカトロニック行動体"日本ロボット学会学会誌. Vol.19 No.7. 822-825 (2001)

[Publications] M.Inaba, I.Mizuuchi, R.Tajima, T.Yoshikai, K.Nagashima, H.Inoue: "Building Spined Mustle -Tendon Humanoid, Preprints of International"Symposium on Robotics Research (ISRR2001),. (2001)

[Publications] K.Okada, S.Kagami, M.Inaba, H.Inoue: ""Walking Human Avoidance and Detection from A Mobile Robot using 3D Depth Flow""Proc.of International Conference on Robotics and Automation (ICRA'01). 2307-2312 (2001)

[Publications] K.Okad, S.Kagami, M.Inaba, H.Inoue:: ""Plane Segment Finder : Algorithm""Proc.of International Conference on Robotics and Automation (ICRA'01),. 2120-2125 (2001)

[Publications] F.Kanehiro, M.Inaba, H.Inoue, H.Hirukawa, S.Hirai: "Developmental Software Environment that is applicable to Small-size Humanoids and life-size Humanoids"Proc.of IROS'O1. 4084-4089 (2001)

[Publications] S.Kagami, K.Nishiwaki, T.Sugihara, J.J.Kuffner, M.Inaba, H.Inoue.: "Design and Implementation of Software Research Platform for Humanoid Robotics : H6"Proceedings of International Conference on Robotics and Automation (ICRA'01),. 2431-2436 (2001)

[Publications] I.Mizuuchi, M.Inaba, H.Inoue: "A Flexible Spine Human-Form Robot -Development and Control of the Posture of the Spine"Proc.of IROS'01. 2099-2104 (2001)

[Publications] S.Kagami, J.J.Kuffner, K.Nishiwaki, T.Sugihara, T.Michikata, T.Aoyama, M.Inaba, H.Inoue.: "Design and Implementation of Remotely Operation Interface for Humanoid Robot"Proceedings of International Conference on Robotics and Automation (ICRA'01). 401-406 (2001)

[Publications] J.j.Kuffner, K.Nishiwaki, S.Kagami, M.Inaba, H.Inoue: "Motion Planning for Humanoid Robots Under Obstacle and Dynamic Balance Constraints"Proceedings of International Conference on Robotics and Automation (ICRA'01), 2001. 692-698 (2001)

[Publications] J.J.Kuffner, K.Nishiwaki, S.Kagami, M.Inaba, H.Inoue: "Footstep Planning Among Obstacles for Biped Robots"IEEE/RSJ Int.Conf.on Intelligent Robots and Systems (IROS'01). 500-505 (2001)

[Publications] K.Nishiwaki, T.Sugihara, S.Kagami, M.Inada, H.Inoue: "Realtime Generation of Humanoid Walking Trajectory by Mixture and Connection of Pre-designed Motions --Online Control by Footprint Sprcification --"Proc.of International Conference on Robotics. 4110-4115 (2001)

[Publications] 佐川立昌, 岡田慧, 加賀美聡, 稲葉雅幸, 井上博允: "漸増的メッシュモデリングとその階層的認識法による実時間三次元物体認識システムの研究"日本ロボット学会学会誌. Vol.20, No.1. 98-106 (2002)

[Publications] 中村仁彦, 比留川博久, 山根克, 梶田秀司, 横井一仁, 藤江正克, 高西淳夫, 藤原清司, 永嶋史朗, 村瀬有一, 稲葉雅幸, 井上博允: "仮想ロボットプラットフォーム"日本ロボット学会学会誌. Vol.19, No.1. 28-36 (2001)

[Publications] Yasuo Kuniyoshi, Gordon Cheng, Akihiko Nagakubo: "ETL-Humanoid : A Research Vehicle for Open-Ended Action Imitation"Proc.International Symposium of Robotics Research. Vol.1. 42-49 (2001)

[Publications] M.Asada, K.F.MacDorman, H.Ishiguro, Y.Kuniyoshi: "Cognitive developmental robotics as a new paradigm for the design of humanoid robots"Robotics and Autonomous Systems. vol.37,. 185-193 (2001)

[Publications] G.Cheng, A.Nagakubo, Y.Kuniyoshi: "Continuous Humanoid Interaction : An Integrated Perspective Gaining Adaptivity, Redundancy Flexibility -In One"Robotics and Autonomous Systems. Vol.37 No.2-3. 163-185 (2001)

[Publications] Tomoyuki Yamamoto, Yasuo Kuniyoshi: "Harnessing the robot's body dynamics : a global dynamics approach"Proc.of 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2001). Vol.1. 518-525 (2001)

[Publications] Akihiko Nagakubo, Yasuo Kuniyoshi, Gordon Cheng: "ETL-Humanoid -A High-Performance Full Body Humanoid System for Versatile Actions"Proc.of 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2001). Vol.1. 1087-1092 (2001)

[Publications] Satoshi Tadokoro, Toshi Takamori, Keisuke Oguro: "Modeling IPMC for design of actuation mechanisms, Electroactive Polymer(EAP) Actuators as Artificial Muscles, Reality and Science Fiction"Ed.Yoseph Bar-Cohen, SPIE. 331-366 (2001)

[Publications] Satoshi Tadokoro: "A virtual tactile feel display using ICPF actuators"US/Japan Workshop on Exoskeleton Technologies and EHPA Program Review, (invited speech). November28-30. (2001)

[Publications] 昆陽雅司, 田所諭, 高森年, 小黒啓介, 徳田献一: "高分子ゲルアクチュエータを用いた布の手触り感覚を提示する触感ディスプレイ"日本バーチャルリアリティ学会論文誌. Vol.6, No.4. 323-328 (2001)

[Publications] Satoshi Tadokoro, Masahiro Konyo: "IPMC-based artificial tactile feel display for virtual reality human interface"Artificial Muscle Conference (invited speech). (2002)

佐藤知正東京大学, 大学院・情報理工学系研究科, 教授 (50235371)