2011 Fiscal Year Final Research Report

Emergence of Grasping based on tacit learning

Research Project

Project/Area Number	21700337
Research Category	Grant-in-Aid for Young Scientists (B)
Allocation Type	Single-year Grants
Research Field	Bioinformatics/Life informatics
Research Institution	The Institute of Physical and Chemical Research
Principal Investigator	SHIMODA Shingo 独立行政法人理化学研究所, 自律行動制御連携ユニット, 連携ユニットリーダー (20415186)
Project Period (FY)	2009 – 2011
Keywords	生物制御 / Tacit learning / 行動創発 / Grasping / 義手
Research Abstract	Grasping by human beings is one of the most environment-sensitive behavior. We can crate appropriate grasping posture depending on the grasping object and the environmental situations. To apply this ability to the artificial arm control, we used tacit learning that is developed based on the principle of biological controls. We showed in the simulation study that the proposed controller can learn the appropriate grasping posture depending on the grasping force. We applied our controller to control the 3DOF artificial arm to adapt the motion of the remaining joints and experimentally showed that the appropriate behaviors emerged through the body/environment interactions.