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This paper describes learning of robust haptic recognition by Bionic Hand, a human-like robot hand, through dynamic interaction with the object. Bionic hand is a human-like hand that has soft skin with distributed receptors and is driven by artificial pneumatic muscles. At the beginning of learning, it utilizes the result of physical interaction with the object: thanks to the hand compliance, regrasping...
Cognitive developmental robotics (CDR) (Asada et al., 2001) has been tackling the issue of how human cognitive functions develop by means of a synthetic approach that developmentally constructs cognitive functions. ldquoPhysical embodimentrdquo is the core idea of CDR, and is revisited to make its role clearer, that is, to enable information structuring through interactions with the environment, including...
Recently, many researchers on humanoid robotics are interested in quasi-passive-dynamic walking (quasi-PDW) which is similar to human walking. It is desirable that control parameters in quasi-PDW are automatically adjusted because robots often suffer from changes in their physical parameters and the surrounding environment. Reinforcement learning (RL) can be a key technology to this adaptability,...
We present methods to synthesize macroactions for agent systems and the methods are combined with SOS algorithm that learns rules for agent's behavior using reinforcement learning and evolutionary computation. To acquire useful macroactions, our methods use some kinds of numerical values evaluated in performing SOS algorithm, e.g., fitness values of actions or the number of transitions between rules...
Joint attention, a behavior to attend to an object to which another person attends, is an important element not only for human-human communication but also human-robot communication. Building a robot that autonomously acquires the behavior is supposed to be a formidable issue both to establish the design principle of a robot communicating with humans and to understand the developmental process of...
This paper presents a method to realize energy efficient walking of a biped robot with a layered controller. The lower layer controller is a state machine which consists of four states: (1) constant torque is applied to hip and knee joints of the swing leg. (2) no torque is applied so that the swing leg can move in a ballistic manner. (3) a PD controller is used so that the desired posture can be...
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