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Computational understanding of learning-by-demonstration process to acquire fast whole body motions sequentially from the low speed motions

Research Project

Project/Area Number 26280098
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypePartial Multi-year Fund
Section一般
Research Field Intelligent robotics
Research InstitutionRitsumeikan University

Principal Investigator

Hyon Sang-Ho  立命館大学, 理工学部, 准教授 (30344691)

Co-Investigator(Kenkyū-buntansha) 松原 崇充  奈良先端科学技術大学院大学, 情報科学研究科, 准教授 (20508056)
大塚 光雄  立命館大学, スポーツ健康科学部, 助教 (20611312)
下ノ村 和弘  立命館大学, 理工学部, 准教授 (80397679)
有木 由香  立命館大学, 理工学部, 助教 (80553239)
Project Period (FY) 2014-04-01 – 2018-03-31
Project Status Completed (Fiscal Year 2017)
Budget Amount *help
¥15,990,000 (Direct Cost: ¥12,300,000、Indirect Cost: ¥3,690,000)
Fiscal Year 2016: ¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000)
Fiscal Year 2015: ¥6,370,000 (Direct Cost: ¥4,900,000、Indirect Cost: ¥1,470,000)
Fiscal Year 2014: ¥6,760,000 (Direct Cost: ¥5,200,000、Indirect Cost: ¥1,560,000)
Keywordsヒューマノイドロボット / 運動制御 / 運動学習 / ヒューマノイド / 見真似学習 / ロボットビジョン / 全身運動制御 / モーションキャプチャー / 運動生成 / 模倣学習 / 設計製作
Outline of Final Research Achievements

In this project, in order to clarify the teaching method of whole body movement with high degree of difficulty, we aimed to propose a teaching algorithm by reinforcement learning and to verify it using real humanoid robots. During the research period, a new teaching algorithm based on stochastic optimum control theory called Kullback-Leibler control was devised. We have experimentally proved the effectiveness of the proposed method using a dual-arm manipulator developed in this project. We also proposed to use a shared latent space between the human demonstrator and the robot, to quickly acquire the optimal control policy in the low-dimensional space. The method was also validated in dynamic simulations on a biped humanoid robot.

Report

(5 results)
  • 2017 Annual Research Report   Final Research Report ( PDF )
  • 2016 Annual Research Report
  • 2015 Annual Research Report
  • 2014 Annual Research Report
  • Research Products

    (18 results)

All 2017 2016 2015 2014 Other

All Journal Article (2 results) (of which Peer Reviewed: 2 results,  Acknowledgement Compliant: 2 results) Presentation (14 results) (of which Int'l Joint Research: 2 results,  Invited: 1 results) Remarks (2 results)

  • [Journal Article] Design and experimental evaluation of a fast torque-controlled hydraulic humanoid robot2017

    • Author(s)
      Sang-Ho Hyon, Daisuke Suewaka, Yuki Torii and Narifumi Oku
    • Journal Title

      IEEE/ASME Transactions on Mechatronics

      Volume: 印刷中

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Prototyping Force-Controlled 3-DOF Hydraulic Arms for Humanoid Robots2016

    • Author(s)
      Kensuke Izawa, Sang-Ho Hyon
    • Journal Title

      Journal of Robotics and Mechatronics

      Volume: 28 Issue: 1 Pages: 95-103

    • DOI

      10.20965/jrm.2016.p0095

    • NAID

      130007671214

    • ISSN
      0915-3942, 1883-8049
    • Year and Date
      2016-02-20
    • Related Report
      2015 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Presentation] Latent Kullback-Leibler control for dynamic imitation learning of whole-body behaviors in humanoid robots2016

    • Author(s)
      Yuka Ariki, Takamitsu Matsubara, Sang-Ho Hyon
    • Organizer
      IEEE-RAS International Conference on Humanoid Robots
    • Place of Presentation
      Cancun, Mexico
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] トルク制御型ヒューマノイドロボットへのモデル予測制御の導入2015

    • Author(s)
      薛咏, 玄相昊
    • Organizer
      第16回計測自動制御学会システムインテグレーション部門講演会(SI2015)
    • Place of Presentation
      名古屋国際会議場(愛知県名古屋市)
    • Year and Date
      2015-12-16
    • Related Report
      2015 Annual Research Report
  • [Presentation] FPGAによるロボットヘッドのリアルタイム位置姿勢計測の実装2015

    • Author(s)
      松本雅裕,下ノ村和弘
    • Organizer
      デザインガイア2015(電子情報通信学会VLSI設計技術研究会)
    • Place of Presentation
      長崎県勤労福祉会館(長崎市)
    • Year and Date
      2015-12-01
    • Related Report
      2015 Annual Research Report
  • [Presentation] Development of a fast torque-controlled hydraulic humanoid robot that can balance compliantly2015

    • Author(s)
      Sang-Ho Hyon, Daisuke Suewaka, Yuki Torii, Narifumi Oku, Hiroki Ishida
    • Organizer
      IEEE-RAS International Conference on Humanoid Robots
    • Place of Presentation
      韓国, ソウル
    • Year and Date
      2015-11-05
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] カルバック・ライブラー制御に基づく動的バランスを考慮した見まね学習法2015

    • Author(s)
      有木由香, 松原祟充, 玄相昊
    • Organizer
      第33回日本ロボット学会学術講演会
    • Place of Presentation
      東京電機大学(東京都)
    • Year and Date
      2015-09-02
    • Related Report
      2015 Annual Research Report
  • [Presentation] ヒューマノイドロボットから精密プレスまで:油圧の新しい使い方2015

    • Author(s)
      玄相昊
    • Organizer
      第59回システム制御情報学会研究発表講演会(SCI'15)
    • Place of Presentation
      中央電気倶楽部(大阪市)
    • Year and Date
      2015-05-20
    • Related Report
      2015 Annual Research Report
    • Invited
  • [Presentation] ショベルを用いた脚ロボットの評価実験2015

    • Author(s)
      北浦誠人, 井上皓平, 兼松宏多, 玄相昊
    • Organizer
      ロボティクス・メカトロニクス講演会2015
    • Place of Presentation
      みやこめっせ(京都)
    • Year and Date
      2015-05-19
    • Related Report
      2014 Annual Research Report
  • [Presentation] 油圧駆動ヒューマノイドロボットRL-H2の設計2015

    • Author(s)
      末若大輔, 井澤健祐, 北浦誠人,玄相昊
    • Organizer
      ロボティクス・メカトロニクス講演会2015
    • Place of Presentation
      みやこめっせ(京都)
    • Year and Date
      2015-05-19
    • Related Report
      2014 Annual Research Report
  • [Presentation] 力制御可能な油圧ショベルによる脚ロボットの性能評価試験2015

    • Author(s)
      北浦誠人, 井上皓平, 兼松宏多, 玄相昊
    • Organizer
      ロボティクス・メカトロニクス講演会2015
    • Place of Presentation
      みやこめっせ(京都府京都市)
    • Year and Date
      2015-05-18
    • Related Report
      2015 Annual Research Report
  • [Presentation] 柔らかいヒューマノイドロボットにおける視覚フィードバック姿勢制御2015

    • Author(s)
      玄相昊, 永田光, 鳥居裕貴
    • Organizer
      ロボティクス・メカトロニクス講演会2015
    • Place of Presentation
      みやこめっせ(京都府京都市)
    • Year and Date
      2015-05-18
    • Related Report
      2015 Annual Research Report
  • [Presentation] ステレオビジョンを備えたロボットヘッドのリアルタイム位置姿勢推定2015

    • Author(s)
      松本雅裕,下ノ村和弘
    • Organizer
      ロボティクス・メカトロニクス講演会2015
    • Place of Presentation
      みやこめっせ(京都府京都市)
    • Year and Date
      2015-05-18
    • Related Report
      2015 Annual Research Report
  • [Presentation] 等身大ヒューマノイドロボットにおけるビジュアルバランス制御2015

    • Author(s)
      永田光, 鳥居裕貴, 玄相昊
    • Organizer
      ロボティクス・メカトロニクス講演会2015
    • Place of Presentation
      みやこめっせ(京都)
    • Year and Date
      2015-05-18
    • Related Report
      2014 Annual Research Report
  • [Presentation] 油圧サーボ技術によるタフで高性能なスポーツロボ、フィールドロボの開発2015

    • Author(s)
      玄相昊
    • Organizer
      ロボティクス・メカトロニクス講演会2015産学連携企画
    • Place of Presentation
      みやこめっせ(京都府京都市)
    • Year and Date
      2015-05-17
    • Related Report
      2015 Annual Research Report
  • [Presentation] 油圧式2足歩行ロボットRL-H1Tによるバランス制御2014

    • Author(s)
      末若大輔, 鳥居裕貴, 玄相昊
    • Organizer
      第15回計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      東京ビッグサイト(東京)
    • Year and Date
      2014-12-17
    • Related Report
      2014 Annual Research Report
  • [Remarks] ヒューマノイドシステム研究室

    • URL

      http://www.ritsumei.ac.jp/se/~gen/

    • Related Report
      2015 Annual Research Report
  • [Remarks] Humanoid Project

    • URL

      http://www.ritsumei.ac.jp/se/~gen/

    • Related Report
      2014 Annual Research Report

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Published: 2014-04-04   Modified: 2019-03-29  

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