Name
Title | ||
|---|---|---|
Motion generation based on reliable predictability using self-organized object features. |
Abstract | ||
|---|---|---|
Predictability is an important factor for determining robot motions. This paper presents a model to generate robot motions based on reliable predictability evaluated through a dynamics learning model which self-organizes object features. The model is composed of a dynamics learning module, namely Recurrent Neural Network with Parametric Bias (RNNPB), and a hierarchical neural network as a feature extraction module. The model inputs raw object images and robot motions. Through bi-directional training of the two models, object features which describe the object motion are self-organized in the output of the hierarchical neural network, which is linked to the input of RNNPB. After training, the model searches for the robot motion with high reliable predictability of object motion. Experiments were performed with the robot's pushing motion with a variety of objects to generate sliding, falling over, bouncing, and rolling motions. For objects with single motion possibility, the robot tended to generate motions that induce the object motion. For objects with two motion possibilities, the robot evenly generated motions that induce the two object motions. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1109/IROS.2010.5652609 | IROS |
Keywords | Field | DocType |
feature extraction,image motion analysis,intelligent robots,learning (artificial intelligence),motion control,radial basis function networks,reliability,robot dynamics,robot vision,dynamics learning model,feature extraction module,hierarchical neural network,motion generation,parametric bias,recurrent neural network,reliable predictability evaluation,robot motions,self-organized object features | Computer vision,Motion control,Predictability,Computer science,Motion generation,Recurrent neural network,Feature extraction,Parametric statistics,Artificial intelligence,Artificial neural network,Robot | Conference |
ISSN | Citations | PageRank |
2153-0858 | 0 | 0.34 |
References | Authors | |
7 | 6 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Shun Nishide | 1 | 60 | 13.47 |
| Tetsuya Ogata | 2 | 1158 | 135.73 |
| Jun Tani | 3 | 1508 | 139.42 |
| toru takahashi | 4 | 337 | 39.39 |
| Kazunori Komatani | 5 | 790 | 87.95 |
| Hiroshi G. Okuno | 6 | 2092 | 233.19 |