2021 Fiscal Year Final Research Report
Analysis of adaptive mechanisms in chemical localization behavior of animals by using novel devices to intervene in sensory and motor functions
| Project/Area Number |
19H02104
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | Tokyo Institute of Technology |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
志垣 俊介 大阪大学, 基礎工学研究科, 助教 (50825289)
服部 佑哉 呉工業高等専門学校, 電気情報工学分野, 准教授 (30709803)
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| Project Period (FY) |
2019-04-01 – 2022-03-31
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| Keywords | 生物規範システム / 適応的行動選択 / 匂い源探索 |
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| Outline of Final Research Achievements |
This research aims to reveal the mechanism of adaptive action selection exhibited by animals based on multiple sensory so that we can improve performance of robots for chemical plume tracing tasks. Through developments of novel experimental systems, such as a virtual-reality treadmill or a wind tunnel with embedded chemical sensors, we observed various situation-dependent behaviors exhibited by model animals. By informative analysis, such as inverse reinforcement learning or Gaussian regression, we build motion algorithms and implemented a chemical searching robot that works effectively not only in a free space but also obstacle regions.
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| Free Research Field |
知能機械システム
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| Academic Significance and Societal Importance of the Research Achievements |
本研究では，仮想現実を用いた新奇な計測手法等を開発し，生物の複数刺激と行動の連関を多様に計測可能とした．この結果に，ガウス過程回帰や逆強化学習を用いて抽象レベルの行動選択表現を獲得した．単に見た目の行動を模擬するのではない生物規範型行動アルゴリズムを構築した点に学術的意義がある．化学物質源追尾は多くの社会的応用が期待されており，ロボットによる実現に資する成果を得た点に社会的意義がある．
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