![](/images/graphics-bg.png)
Tool-Body Assimilation Model Based on Body Babbling and Neurodynamical System
Joint Authors
Takahashi, Kuniyuki
Ogata, Tetsuya
Tjandra, Hadi
Yamaguchi, Yuki
Sugano, Shigeki
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-02-22
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
We propose the new method of tool use with a tool-body assimilation model based on body babbling and a neurodynamical system for robots to use tools.
Almost all existing studies for robots to use tools require predetermined motions and tool features; the motion patterns are limited and the robots cannot use novel tools.
Other studies fully search for all available parameters for novel tools, but this leads to massive amounts of calculations.
To solve these problems, we took the following approach: we used a humanoid robot model to generate random motions based on human body babbling.
These rich motion experiences were used to train recurrent and deep neural networks for modeling a body image.
Tool features were self-organized in parametric bias, modulating the body image according to the tool in use.
Finally, we designed a neural network for the robot to generate motion only from the target image.
Experiments were conducted with multiple tools for manipulating a cylindrical target object.
The results show that the tool-body assimilation model is capable of motion generation.
American Psychological Association (APA)
Takahashi, Kuniyuki& Ogata, Tetsuya& Tjandra, Hadi& Yamaguchi, Yuki& Sugano, Shigeki. 2015. Tool-Body Assimilation Model Based on Body Babbling and Neurodynamical System. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-15.
https://search.emarefa.net/detail/BIM-1074858
Modern Language Association (MLA)
Takahashi, Kuniyuki…[et al.]. Tool-Body Assimilation Model Based on Body Babbling and Neurodynamical System. Mathematical Problems in Engineering No. 2015 (2015), pp.1-15.
https://search.emarefa.net/detail/BIM-1074858
American Medical Association (AMA)
Takahashi, Kuniyuki& Ogata, Tetsuya& Tjandra, Hadi& Yamaguchi, Yuki& Sugano, Shigeki. Tool-Body Assimilation Model Based on Body Babbling and Neurodynamical System. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-15.
https://search.emarefa.net/detail/BIM-1074858
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1074858