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Understanding mechanisms of intelligence of human beings and animals is one of the most important approaches to develop intelligent robot systems. Since the mechanisms of such real-life intelligent systems are so complex, physical interactions between agents and their environment and the social interactions between agents should be considered. Comprehension and knowledge in many peripheral fields...
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...
Structure of a humanpsilas muscular-skeleton system is supposed to play an essential role for realizing dynamic locomotion such as jumping and running. This paper investigates the effectiveness of the human-like morphology for dynamic bouncing. We designed a monopod that had a bio-mimetic muscular-skeleton system utilizing pneumatic artificial muscles. Through the experiments, we confirmed that the...
Thermal sense plays an important role in object recognition. The idea to identify materials by heat flow from the skin to the touched materials have been introduced to artificial thermal sensors and proved effective. Moreover, the addition of tactile sensors is found to improve the performance of material identification by obtaining further properties of objects such as roughness and stiffness. However,...
A McKibben artificial muscle has suitable properties for realizing walking and running biped robots such as light weight, springy nature, and efficiency. Since controlling McKibben muscles is difficult because of their nonlinearity, we have to design robot dynamic parameters carefully. If the parameters are designed properly, the walking controller can be simple. In this paper, we describe a developed...
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