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2011 Fiscal Year Final Research Report

Theory and experiment of skill transfer by direct teaching and online learning

Research Project

  • PDF
Project/Area Number 21680021
Research Category

Grant-in-Aid for Young Scientists (A)

Allocation TypeSingle-year Grants
Research Field Perception information processing/Intelligent robotics
Research InstitutionRitsumeikan University (2010-2011)
Advanced Telecommunications Research Institute International (2009)

Principal Investigator

GEN Soukou  立命館大学, 理工学部, 准教授 (30344691)

Research Collaborator MORIMOTO Atsushi  ATR脳情報研究所, 主任研究員 (10505986)
MATSUBARA Takamitsu  奈良先端科学技術大学院大学, 情報技術科学研究科, 助教 (20508056)
Project Period (FY) 2009 – 2011
Keywords知能ロボット
Research Abstract

We proposed an intuitive and safe skill transfer method from human to robots. This is done by combining robotic controllers with direct motion teaching technique. The task demonstrated by human operators is represented as a manifold so that the similar task is automatically achieved in a small number of trials. The algorithm is validated on a three-joint force-controllable robot.

  • Research Products

    (13 results)

All 2012 2011 2010

All Journal Article (7 results) (of which Peer Reviewed: 7 results) Presentation (6 results)

  • [Journal Article] Real-time stylistic prediction for whole-body human motions2012

    • Author(s)
      Matsubara, T., Hyon, S. and Morimoto, J.
    • Journal Title

      Neural Networks

      Volume: vol.25 Pages: 191-199

    • Peer Reviewed
  • [Journal Article] Learning parametric dynamic movement primitives from multiple demonstrations2011

    • Author(s)
      Matsubara, T., Hyon, S. and Morimoto, J.
    • Journal Title

      Neural Networks

      Volume: vol.24 Pages: 493-500

    • Peer Reviewed
  • [Journal Article] 個性を考慮した周期的全身運動の予測2011

    • Author(s)
      松原崇充, 玄相昊, 森本淳
    • Journal Title

      電子情報通信学会論文誌

      Volume: vol.J94-D, no.1 Pages: 344-355

    • Peer Reviewed
  • [Journal Article] An optimal control approach for hybrid actuator system2011

    • Author(s)
      Matsubara, T., Noda, T., Hyon, S. and Morimoto, J.
    • Journal Title

      IEEE-RAS International Conference on Humanoid Robots

      Pages: 300-3005

    • Peer Reviewed
  • [Journal Article] XoR : Hybrid drive exoskeleton robot that can balance2011

    • Author(s)
      Hyon, S., Morimoto, J., Matsubara, T., Noda, T. and Kawato, M.
    • Journal Title

      Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 3975-3981

    • Peer Reviewed
  • [Journal Article] Learning parametric dynamic movement primitives from multiple demonstrations2010

    • Author(s)
      Matsubara, T., Hyon, S., Morimoto, J.
    • Journal Title

      17th International Conference on Neural Information Processing

      Volume: vol.6443 Pages: 347-354

    • Peer Reviewed
  • [Journal Article] Learning stylistic dynamic movement primitives from multiple demonstrations2010

    • Author(s)
      Matsubara, T., Hyon, S., Morimoto, J.
    • Journal Title

      Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 1277-1283

    • Peer Reviewed
  • [Presentation] Hybrid drive exoskeleton robot : Compliant control and system identification2011

    • Author(s)
      Hyon, S.
    • Organizer
      IEEE-RAS International Conference on Humanoid Robots
    • Place of Presentation
      Workshop
    • Year and Date
      20111026-28
  • [Presentation] 規範軌道の多様性を考慮した非線形力学系による運動記述の学習法:ロボットによる見まね学習への応用2010

    • Author(s)
      松原崇充, 玄相昊, 森本淳
    • Organizer
      第13回情報論的学習理論ワークション(IBIS 2010),信学技法,東京大学生産技術研究所
    • Place of Presentation
      東京都
    • Year and Date
      2010-11-05
  • [Presentation] ヒトと運動アシストロボットにおける共通の状態空間の抽出:外骨格ロボット制御への応用2010

    • Author(s)
      森本淳, 野田智之, 玄相昊
    • Organizer
      第13回情報論的学習理論ワークション(IBIS 2010),信学技法,東京大学生産技術研究所
    • Place of Presentation
      東京都
    • Year and Date
      2010-11-04
  • [Presentation] パラメトリック運動学習プリミティブ:規範軌道の多様性を考慮した見まね学習2010

    • Author(s)
      松原崇充, 玄相昊, 森本淳
    • Organizer
      第28回日本ロボット学会学術講演会(RSJ 2010)
    • Place of Presentation
      名古屋工業大学(愛知県)
    • Year and Date
      2010-09-22
  • [Presentation] 模倣学習のための明確なラベル付けのない運動プリミティブの抽出2010

    • Author(s)
      有木由香, 森本淳, 玄相昊
    • Organizer
      第33回日本神経科学会(Neuroscience 2010)
    • Place of Presentation
      神戸コンベンションセンター(兵庫県)
    • Year and Date
      2010-09-03
  • [Presentation] On-line stylistic prediction for human periodic motions2010

    • Author(s)
      Matsubara, T., Hyon, S., Morimoto, J.
    • Organizer
      第33回日本神経科学会(Neuroscience 2010)
    • Place of Presentation
      神戸コンベンションセンター(兵庫県)
    • Year and Date
      2010-09-02

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Published: 2013-07-31  

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