| Project/Area Number |
14J04733
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| Research Category |
Grant-in-Aid for JSPS Fellows
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| Allocation Type | Single-year Grants |
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| Section | 国内 |
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| Research Field |
Intelligent robotics
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| Research Institution | Osaka University |
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Principal Investigator |
BASOEKI FRANSISKA (2015) 大阪大学, 基礎工学研究科, 特別研究員(DC2)
BASOEKI Fransiska (2014) 大阪大学, 基礎工学研究科, 特別研究員(DC2)
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| Project Period (FY) |
2014-04-25 – 2016-03-31
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| Project Status |
Completed (Fiscal Year 2015)
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| Budget Amount *help |
¥2,200,000 (Direct Cost: ¥2,200,000)
Fiscal Year 2015: ¥1,000,000 (Direct Cost: ¥1,000,000)
Fiscal Year 2014: ¥1,200,000 (Direct Cost: ¥1,200,000)
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| Keywords | ヒューマノイドロボット / 接触教示 / 姿勢 / ロボット / ヒューマノイド / 接触 / 学習 |
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| Outline of Annual Research Achievements |
This research aims to develop an intuitive way of teaching a robot a movement just like teaching a human child by touching. Since the robot does not know how to respond to touches, the user has to teach the robot the correct responses. The problem of showing this at the same time as teaching the robot a new motion is that the user has to show a lot of touch responses before the robot is able to learn how to response to touch correctly. To ease the burden of the users, we look at the previously obtained responses and see the possibility of inferring the response to a touch from the response of a similar touch. Therefore, we need a way of measuring the difference between different postures quantitatively.
Upon investigation of the metric, we found a very counter-intuitive phenomena, emerged in the analysis of the performance of the metric with respect to the performance of our categorical variable measure. Specifically, we show that the categorical variable metric introduced in our paper does not perform very well in the judgment of absolute distance, but performs the best in the case of relative distances. Judgment of absolute distance refers to grading of two postures as very dissimilar to very similar. Judgment of relative distances refers to judging among three postures, which of the two is the most similar. While this result was obtained due to our investigation of posture distances, we expect that the result is general and not tied to a specific application. The applicant is currently preparing the resubmission of these findings as a journal paper on Advanced Robotics.
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| Research Progress Status |
27年度が最終年度であるため、記入しない。
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| Strategy for Future Research Activity |
27年度が最終年度であるため、記入しない。
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