2013 Fiscal Year Final Research Report
Sensory driven automonus programming for changing task - case study for home robot -
| Project/Area Number |
23500246
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Tamagawa University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
OKADA Hiroyuki 玉川大学, 工学部, 教授 (10349326)
NAGAI Takayuki 電気通信大学, 大学院・情報理工学研究科, 准教授 (40303010)
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| Project Period (FY) |
2011 – 2013
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| Keywords | 即応的 / ロボット / 行動適応 / 機能部品 / 動的組み合わせ |
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| Research Abstract |
For realizing a human supporting robot, we need a dynamic program adaptation method that realize a target function by immediately adapting elemental behavior to its environmental requirement. Brain realizes the adaptation by dynamically switching many cortical/subcortical areas for each of tasks. In this study, we evaluate this functional parts combination (FPC) model as a method to select the functional modules based on the recognition of environmental partial situations.
To implement the situation recognition and behavior adaptation for FPC model, we divided robot body into the functional parts for task conduction, evaluated the combination of the body modules for each of realistic tasks, and implemented the combination into the robot task processing program. Using the developed robot, we could take second place of @home competition in RoboCup World Competition 2012
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