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Development of an imitation behavior in humanoid Kenta with reinforcement learning algorithm based on the attention during imitation

Development of an imitation behavior in humanoid Kenta with ...

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IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： T. Yoshikai N. Otake I. Mizuuchi M. Inaba H. Inoue dept. Mechano-Informatics University of Tokyo Tokyo Japan

Since an environment or body states of robots are very changeable, robotic imitation systems should have ability to develop their behaviors by themselves. For the development of the imitation behaviors, we assume that attention during imitation is the key information. In order to realize such imitation systems with evolving ability, the idea of reinforcement learning system based on the attention structure during imitation has been presented in this paper. First, for describing the attention during imitation behaviors, we define the term 'sensor-action attention pair' as the pair of the most important sensor information and the focused body parts during that behavior. Second, we introduce R-learning, the reinforcement learning method for continual tasks such as imitation behaviors. Third, the method to design the state-action space and the reward function based on the sensor-action attention pair is proposed. At last, for the confirmation of the function of the proposed imitation behavior system, we have done some experiments using actual humanoid Kenta. In those experiments, Kenta can develop imitation behavior that imitates the hand position of the human.

关键词： Learning Humans robotics and automation Intelligent robots Sensor phenomena and characterization Design methodology Robust control Automatic control control systems Uncertainty

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Laboratory tools for robotics and automation education

Laboratory tools for robotics and automation education

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20th IEEE international conference on robotics and automation (ICRA)

作者： Cosma, C Confente, M Botturi, D Fiorini, P Univ Verona Dipartimento Informat I-37134 Verona Italy

ISBN: (纸本)0780377362

This paper describes our efforts and plans to develop a Virtual Laboratory for the education in robotics and automation. These efforts are characterized by the need of blending R&A subjects into a traditional Computer Science curriculum, thus forcing a specific selection of development topics. In this context, the robotics Laboratory must provide basic as well as advanced experiments, to address the needs of students at different education levels. In this paper, we present the development of three main applications, to support control Systems and robotics classes, as well as thesis and dissertation research. Of particular interest is the effort in the area of teleoperation, preliminary to the opening, next year, of a new curriculum on Medical informatics, in which Computer Assisted Surgery will play an important role.

关键词： robotics

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Online humanoid walking control system and a moving goal tracking experiment

Online humanoid walking control system and a moving goal tra...

引用

2003 IEEE international conference on robotics and automation

作者： Nishiwaki, Koichi Kagami, Satoshi Kuffner, James J. Inaba, Masayuki Inoue, Hirochika Dept. of Mechano-Informatics Sch. of Info. Sci. and Technol. Univ. of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo 113-8656 Japan Digital Human Lab. Natl. Inst. of Adv. Sci. Technol. 2-41-6 Aomi Kouto-ku Tokyo 135-0064 Japan Carnegie Melon Univ. Robotics Institute 5000 Forbes Avenue Pittsburgh PA 15213 United States

We present a humanoid walking control system that generates body trajectories to follow a given desired motion online, A layered software and control architecture is used to aggregate system components and provide a framework for high-level autonomous locomotion behaviors. Walking characteristics such as desired torso movements, upper body posture, and step cycles, can be specified and used to generate stable whole-body waking trajectories online. The basic architecture consists of 4 layers: footstep planning, trajectory generation, trajectory modification from sensor feedback, and joint servo control. In order to test the complete system, we implemented an experimental top-level behavior that enables the robot to track and follow a moving target based on stereo vision feedback. We explain the overall system design and components, and present results based on our current implementation using the humanoid robot 'H7'.

关键词： Motion control

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Novel approach in the adaptive control of systems having strongly nonlinear coupling between their unmodeled internal degrees of freedom

Novel approach in the adaptive control of systems having str...

引用

2003 IEEE international conference on robotics and automation

作者： Rudas, Imre J. Tar, József K. Kozlowski, K. Jezernik, Karel Budapest Polytechnic Inst. of Math. and Comp. Sciences John von Neumann Fac. of Informatics H-1081 Budapest Népszinház utca 8 Hungary Budapest Polytechnic Inst. of Math. and Comp. Sciences H-1081 Budapest Népszinház utca 8 Hungary Poznan University of Technology Chair Contr. Robotics Comp. Sci. Ul. Piotrowo 3a 60-965 Poznan Poland University of Maribor Fac. of Elec. Eng. and Comp. Science Institute of Robotics Smetanova ul. 17 SI-2000 Maribor Slovenia

The application of a novel branch of Computational Cybernetics is extended to the adaptive control of very inaccurately and partly modeled electromechanical systems also having unmodeled non-linear dynamic coupling with their environment. The method uses "uniform structures" for modeling, and "uniform procedures" for "repetitive" or cumulative learning like in the case of the "traditional" soft computing approaches. But it considerably reduces the number of free parameters to be set, and also replaces the process of parameter tuning with simple, lucid, and explicit algebraic operations of limited number of steps. It is demonstrated via simulation that the control can operate even if strongly nonlinear terms (Coulomb friction and sticking combined with the elastic and viscous terms of the unmodeled external interaction in the Stribeck model), and elastically deformable joints are present. As a paradigm a mechanically 3 DOF SCARA arm actuated by voltage-controlled DC motors is considered. The system has 9 degrees of freedom (6 mechanical and 3 electrical). For the controller only three mechanical degrees of freedom are modeled. It is concluded that the control can efficiently compensate the effect of the unmodeled degrees of freedom, the external interaction, and the inaccuracy of the modeled part of the robot.

关键词： Adaptive control systems

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Enhancing Appearance-Based Robot Localization Using Sparse Disparity Maps

Enhancing Appearance-Based Robot Localization Using Sparse D...

引用

2003 IEEE/RSJ international conference on Intelligent Robots and Systems

作者： Porta, Josep M. Verbeek, Jakob J. Kröse, Ben IAS Group Informatics Institute University of Amsterdam Kruislaan 403 1098SJ Amsterdam Netherlands

In this paper, we enhance appearance-based robot localization by using disparity maps. Disparity maps provide the same type of information as range based sensors (distance to objects) and thus, they are likely to be less sensitive to changes of illumination than plain images, that are the source of information generally used in appearance-based localization. The main drawback of disparity maps is that they can include very noisy depth values: points for which the algorithms can not determine reliable depth information. These noisy values have to be discarded resulting in missing values. The presence of missing values makes Principal Component Analysis (the standard method used to compress images in the appearance-based framework) unfeasible. We describe a novel Expectation-Maximization algorithm to determine the principal components of a data set including missing values and we apply it to disparity maps. The results we present show that disparity maps are a valid alternative to increase the robustness of appearance-based localization.

关键词： robotics

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Humanoid Arm Motion Planning using Stereo Vision and RRT Search

Humanoid Arm Motion Planning using Stereo Vision and RRT Sea...

引用

2003 IEEE/RSJ international conference on Intelligent Robots and Systems

作者： Kagami, Satoshi Kuffner, James J. Nishiwaki, Koichi Okada, Kei Inaba, Masayuki Inoue, Hirochika Digital Human Lab. Natl. Inst. of Adv. Sci./Technology CREST Program Japan Sci./Technology Corporation School of Computer Science Carnegie Mellon University Dept. of Mechano-Informatics Sch. of Info. Science and Technology Univ. of Tokyo

This paper describes an experimental stereo vision based motion planning system for humanoid robots. The goal is to automatically generate arm trajectories that avoid obstacles in unknown environments from high-level task commands. Our system consists of three components: 1) environment sensing using stereo vision with disparity map generation and online consistency checking, 2) probabilistic mesh modeling in order to accumulate continuous vision input, and 3) motion planning for the robot arm using RRTs (Rapidly exploring Random Trees). We demonstrate results from experiments using an implementation designed for the humanoid robot H7.

关键词： Intelligent robots

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Robot recognizes three simultaneous speech by active audition

Robot recognizes three simultaneous speech by active auditio...

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2003 IEEE international conference on robotics and automation

作者： Nakadai, Kazuhiro Okuno, Hiroshi G. Kitano, Hiroaki Kitano Symbiotic Systems Project ERATO Japan Science and Tech. Corp. Tokyo Japan Grad. Sch. of Informatics Kyoto University Kyoto Japan Sony Computer Science Labs. Inc. Tokyo Japan

Robots should listen to and recognize speeches with their own ears under noisy environments and simultaneous speeches to attain smooth communications with people in a real world. This paper presents three simultaneous speech recognition based on active audition which integrates audition with motion. Our robot audition system consists of three modules - a real-time human tracking system, an active direction-pass filter (ADPF) and a speech recognition system using multiple acoustic models. The real-time human tracking system realizes robust and accurate sound source localization and tracking by audio-visual integration. The performance of localization shows that the resolution of the center of the robot is much higher than that of the peripheral. We call this phenomena "auditory fovea" because it is similar to visual fovea (high resolution in the center of human eye). Active motions such as being directed at the sound source improve localization because of making the best use of the auditory fovea. The ADPF realizes accurate and fast sound separation by using a pair of microphones. The ADPF separates sounds originating from the specified direction obtained by the real-time human tracking system. Because the performance of separation depends on the accuracy of localization, the extraction of sound from the front direction is more accurate than that of sound from the periphery. This means that the pass range of the ADPF should be narrower in the front direction than in the periphery. In other words, such active pass range control improves sound separation. The separated speech is recognized by the speech recognition using multiple acoustic models that integrates multiple results to output the result with the maximum likelihood. Active motions such as being directed at a sound source improve speech recognition because it realizes not only improvement of sound extraction but also easier integration of the results using face ID by face recognition. The robot audition syste

关键词： Intelligent robots

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Laboratory tools for robotics and automation education

Laboratory tools for robotics and automation education

引用

IEEE international conference on robotics and automation (ICRA)

作者： C. Cosma M. Confente D. Botturi P. Fiorini Dipmimento di Informatica Universiti di Verona Verona Italy

This paper describes our efforts and plans to develop a Virtual Laboratory for the education in robotics and automation. These efforts are characterized by the need of blending R&A subjects into a traditional Computer Science curriculum, thus forcing a specific selection of development topics. In this context, the robotics Laboratory must provide the basic as well as advanced experiments, to address the needs of students at different education levels. In this paper, we present the development of three main applications, to support control Systems and robotics classes, as well as the thesis and dissertation research. Of particular interest is the effort in the area of teleoperation, preliminary to the opening (next year) of a new curriculum on Medical informatics, in which Computer Assisted Surgery will play an important role.

关键词： Laboratories robotics and automation Computer science education Computer science Educational robots Application software Medical control systems Robot control control systems Medical robotics

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Applying Scattering Theory to Robot Audition System: Robust Sound Source Localization and Extraction

Applying Scattering Theory to Robot Audition System: Robust ...

引用

2003 IEEE/RSJ international conference on Intelligent Robots and Systems

作者： Nakadai, Kazuhiro Matsuura, Daisuke Okuno, Hiroshi G. Kitano, Hiroaki Honda Res. Inst. Japan Co. Ltd. 8-1 Honcko Wako-shi Saitama 351-0114 Japan Grad. Sch. of Sci. and Engineering Tokyo Institute of Technology Dept. of Intell. Sci. and Technology Graduate School of Informatics Kyoto University Kitano Symbiotic Systems Project ERATO Japan Science and Technology Corp.

Robot audition by its own ears (microphones) is essential for natural human-robot communication and interface. Since a microphone is embedded in the head of a robot, the head-related transfer function (HRTF) plays an important role in sound source localization and extraction. Usually, from binaural input, the interaural phase difference (IPD) and interaural intensity difference (IID) are calculated, and then the direction is determined by using IPD and IID with HRTF. The problem of HRTF-based sound source localization is that a HRTF should be measured for each robot in an anechoic chamber, because it depends on the shape of robot's head;HRTF should be interpolated to manipulate a moving talker, because it is available only for discrete azimuth and elevation. To cope with these problems of HRTF, we proposed the auditory epipolar geometry as a continuous function of IPD and IID to dispense with HRTF and have developed a real-time multiple-talker tracking system. This auditory epipolar geometry, however, does not give a good approximation to IID of all range and IPD of peripheral areas. In this paper, the scattering theory in physics is employed to take into consideration the diffraction of sounds around robot's head for better approximation of IID and IPD. The resulting system shows that it is efficient for localization and extraction of sound at higher frequency and from side directions.

关键词： Intelligent robots

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Vision-based localization of an underwater robot in a structured environment

Vision-based localization of an underwater robot in a struct...

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IEEE international conference on robotics and automation (ICRA)

作者： M. Carreras P. Ridao R. Garcia T. Nicosevici Institute of Informatics and Applications University of Girona Girona Spain

This paper presents a vision-based localization approach for an underwater robot in a structured environment. The system is based on a coded pattern placed on the bottom of a water tank and an onboard down looking camera. Main features are, absolute and map-based localization, landmark detection and tracking, and real-time computation (12.5 Hz). The proposed system provides three-dimensional position and orientation of the vehicle along with its velocity. Accuracy of the drift-free estimates is very high, allowing them to be used as feedback measures of a velocity-based low-level controller. The paper details the localization algorithm, by showing some graphical results, and the accuracy of the system.

关键词： Robot vision systems Cameras Underwater vehicles Velocity control Underwater tracking Acoustic sensors Motion estimation Robot kinematics informatics Optical feedback

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