感覚運動情報統合モデルを用いたヒューマノイドの全身リーチング姿勢の生成

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  • カンカク ウンドウ ジョウホウ トウゴウ モデル オ モチイタ ヒューマノイド ノ ゼンシン リーチング シセイ ノ セイセイ
  • Posture generation of a humanoid in whole body reaching movement using an integration model of sensory motor information

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Abstract

We propose a method to integrate sensory and motor information of a humanoid in whole body reaching movements using a neural network. We divide a whole body reaching movement into an arm reaching task and a body posture task, and construct neural models for each task. Network operation consists of a learning phase and a posture generation phase. In the learning phase, each network model integrates sensory and motor information by feature extraction from input information. In the posture generation phase, two networks are combined, and the most suitable configuration of body joints corresponding to some criteria is obtained by a relaxation computation of the network.

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