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A robot working with humans or other robots is supposed to be adaptive to changes in the environment. Reinforcement learning has been studied well for motor skill learning, robot behavior acquisition and adaptation of the behavior to the environmental changes. However, it is not practical that the robot learns and adapts its behavior only through trial and error by itself from scratch because huge...
Estimation of a caregiver's view is one of the most important capabilities for a child to understand the behavior demonstrated by the caregiver, that is, to infer the intention of behavior and/or to learn the observed behavior efficiently. We hypothesize that the child develops this ability in the same way as behavior learning motivated by an intrinsic reward, that is, he/she updates the model of...
Both self-learning architecture (embedded structure) and explicit/implicit teaching from other agents (environmental design issue) are necessary not only for one behavior learning but more seriously for life-time behavior learning. This paper presents a method for a robot to understand unfamiliar behavior shown by others through the collaboration between behavior acquisition and recognition of observed...
Wheelchair bound persons need assistance since there are many steps in roadways or walkways. Therefore, we are proposing a robotic wheelchair which enables a wheelchair bound person to climb over steps without helperpsilas assistance. By using the proposed robotic wheelchair, a user can maintain inverse pendulum control after raising its front wheels (casters). Then, a user can move forward to the...
Life-time development of behavior learning seems based on not only self-learning architecture but also explicit/implicit teaching from other agents that is expected to accelerates the learning. This paper presents a method for a robot to understand unfamiliar behaviors shown by others through the collaboration between behavior acquisition and recognition of observed behaviors, where the state value...
Neurophysiology has revealed the existence of mirror neurons in brain of macaque monkeys and they shows similar activities during executing an observation of goal directed movements performed by self and other. The concept of the mirror neurons/systems[1] is very interesting and suggests that behavior acquisition and the inferring intention of other are related to each other. That is, the behavior...
We have developed a simple self-transfer aid robotic system and have conducted evaluation experiments. The users targeted are people with impaired walking ability who use a wheelchair, however are still able to walk to some extent. With the aid transfer, these users can maneuver themselves independently to and from apparatus, in this case, toilets. In practice, users lean their upper-bodies onto the...
We have developed a simple self-transfer aid robotic system and have conducted experiments of motion analysis. The users targeted are people with impaired walking ability who use a wheelchair, however are still able to walk to some extent. With the aid transfer, these users can maneuver themselves independently to and from apparatus, in this case, toilets. In practice, users lean their upper-bodies...
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