情報統合の神経回路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決定

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  • ジョウホウ トウゴウ ノ シンケイ カイロ 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 ケッテイ
  • Posture Determination of a Humanoid in Whole Body Reaching Movements Using a Neural Network Model for Information Integration

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Abstract

We propose a neural network architecture to integrate sensory and motor information of a humanoid in whole body reaching movements. We divide a whole body reaching movement into an arm reaching task and a body posture task, and construct two neural models for these tasks. Network operation consists of two phases. 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 according to some criteria is obtained by relaxation computation of the network.

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