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Tool-body assimilation model using a neuro-dynamical system for acquiring representation of tool function and motion | IEEE Conference Publication | IEEE Xplore

Tool-body assimilation model using a neuro-dynamical system for acquiring representation of tool function and motion


Abstract:

In this paper, we propose a tool-body assimilation model that implements a multiple time-scales recurrent neural network (MTRNN). Our model allows a robot to acquire the ...Show More
Notes: As originally published there is an error in this document. The author name "Kuniyuki Takahshi" was intended to be "Kuniyuki Takahashi" as noted here. The article PDF remains as originally published.

Abstract:

In this paper, we propose a tool-body assimilation model that implements a multiple time-scales recurrent neural network (MTRNN). Our model allows a robot to acquire the representation of a tool function and the required motion without having any prior knowledge of the tool. It is composed of five modules: image feature extraction, body model, tool dynamics feature, tool recognition, and motion recognition. Self-organizing maps (SOM) are used for image feature extraction from raw images. The MTRNN is used for body model learning. Parametric bias (PB) nodes are used to learn tool dynamic features. The PB nodes are attached to the neurons of the MTRNN to modulate the body model. A hierarchical neural network (HNN) is implemented for tool and motion recognition. Experiments were conducted using OpenHRP3, a robotics simulator, with multiple tools. The results show that the tool-body assimilation model is capable of recognizing tools, including those having an unlearned shape, and acquires the required motions accordingly.
Notes: As originally published there is an error in this document. The author name "Kuniyuki Takahshi" was intended to be "Kuniyuki Takahashi" as noted here. The article PDF remains as originally published.
Date of Conference: 08-11 July 2014
Date Added to IEEE Xplore: 14 August 2014
ISBN Information:

ISSN Information:

Conference Location: Besacon, France

References

References is not available for this document.