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2012 Fiscal Year Final Research Report

Prediction Object Dynamics and Tool Handling based on Active Perception of Humanoid Robot

Research Project

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Project/Area Number 21300076
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Perception information processing/Intelligent robotics
Research InstitutionWaseda University (2012)
Kyoto University (2009-2011)

Principal Investigator

OGATA Tetsuya  早稲田大学, 理工学術院, 教授 (00318768)

Co-Investigator(Kenkyū-buntansha) NISHIDE Shun  京都大学, 学内共同利用施設等, 助教 (30613400)
Project Period (FY) 2009 – 2012
Keywords再帰型神経回路モデル / 道具身体化 / 予測信頼性 / アフォーダンス
Research Abstract

The approach is based on the embodied/active perception of robot and prediction of object dynamics. Concretely the project completed the following three themes by utilizing recurrent neural network models and humanoid robots, such as (1) prediction and recognition of environmental sounds associated with object dynamics, (2) selective learning of self-body and other object based on predictability, and (3) tool-body assimilation model. The achievements of the project could be applied not only to engineering techniques but also to academic studies on cognitive science etc.

  • Research Products

    (18 results)

All 2013 2012 2011 2010 2009

All Journal Article (8 results) (of which Peer Reviewed: 8 results) Presentation (10 results)

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

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

      IEEE Trans. On Autonomous Mental Development

      Volume: Vol.4, Issue:2 Pages: 139-149

    • DOI

      doi:10.1109/TAMD.2011.2177660

    • Peer Reviewed
  • [Journal Article] Body area segmentation from visual scene based on predictability of neuro-dynamical system2012

    • Author(s)
      H. Nobuta, K. Kawamoto, K. Noda, K. Sabe, H. G. Okuno, S. Nishide and T. Ogata
    • Journal Title

      Proceedings of IEEE International Joint Conference on Neural Networks (IJCNN-2012)

      Pages: 10-15

    • Peer Reviewed
  • [Journal Article] Self-organization of Object Features Representing Motion Using Multiple Timescales Recurrent Neural Network2012

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

      Proceedings of IEEE International Joint Conference on Neural Networks (IJCNN-2012)

      Pages: 10-15

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

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

      Advanced Robotics, Special Issue on Dynamical System Involving Symbol Processing

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

    • Peer Reviewed
  • [Journal Article] Cluster Self-organization of Known and Unknown Environmental Sounds using Recurrent Neural Network2011

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

      Proceeding of the International Conference on Artificial Neural Networks (ICANN 2011)

      Volume: LNCS6791 Pages: 167-175

    • Peer Reviewed
  • [Journal Article] Inter-modality Mapping in Robot with Recurrent Neural Network2010

    • Author(s)
      T. Ogata, S. Nishide, H. Kozima, K. Komatani, H. G. Okuno
    • Journal Title

      Pattern Recognition Letters

      Volume: 31 Pages: 1560-1569

    • Peer Reviewed
  • [Journal Article] Motion Generation Based on Reliable Predictability using Self-organized Object Features2010

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

      IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-2010)

    • Peer Reviewed
  • [Journal Article] Modeling Tool-Body Assimilation using Second-order Recurrent Neural Network2009

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

      IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-2009)

      Pages: 5376-5381

    • 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
      東北大学
    • Year and Date
      20130300
  • [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
      SI 2012
    • Place of Presentation
      福岡国際会議場
    • Year and Date
      20121219-21
  • [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
      札幌コンベンションセンター
    • Year and Date
      20120917-20
  • [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
      札幌コンベンションセンター
    • Year and Date
      20120917-20
  • [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
      札幌コンベンションセンター
    • Year and Date
      20120917-20
  • [Presentation] 再帰型神経回路モデルを用いた視野変化予測と場所知覚ニューロンの発現2012

    • Author(s)
      信田春満, 河本献太, 野田邦昭, 佐部浩太郎, 奥乃博, 尾形哲也
    • Organizer
      情報処理学会第74回全国大会
    • Place of Presentation
      名古屋工業大学
    • Year and Date
      2012-03-08
  • [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
      名古屋工業大学
    • Year and Date
      2012-03-07
  • [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, 尾形哲也, 奥乃博
    • Organizer
      日本ロボット学会第29回学術講演会
    • Place of Presentation
      芝浦工業大学
    • Year and Date
      2011-09-09
  • [Presentation] 能動知覚経験に基づく物体特徴量の自己組織化と予測信頼性に基づく動作生成2010

    • Author(s)
      西出俊,尾形哲也,谷淳,高橋徹,奥乃博
    • Organizer
      日本ロボット学会第28回学術講演会
    • Place of Presentation
      名古屋工業大学
    • Year and Date
      20100900
  • [Presentation] 二次リカレントニューラルネットワークを用いた道具身体化モデルの構築2009

    • Author(s)
      西出俊, 中川達裕, 尾形哲也, 谷淳,高橋徹, 奥乃博
    • Organizer
      日本ロボット学会第27回学術講演会
    • Place of Presentation
      横浜国立大学
    • Year and Date
      2009-09-16

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Published: 2014-08-29  

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