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Hokkaido University Collection of Scholarly and Academic Papers >
Graduate School of Information Science and Technology / Faculty of Information Science and Technology >
Peer-reviewed Journal Articles, etc >
A Method for Acquiring Body Movement Verbs for a Humanoid Robot through Physical Interaction with Humans
| Title: | A Method for Acquiring Body Movement Verbs for a Humanoid Robot through Physical Interaction with Humans |
| Authors: | Hasegawa, Dai Browse this author | | Rzepka, Rafal Browse this author →KAKEN DB | | Araki, Kenji Browse this author |
| Issue Date: | Oct-2009 |
| Publisher: | AAAI |
| Journal Title: | Proceedings of the Fifth Artificial Intelligence and Interactive Digital Entertainment Conference |
| Start Page: | 34 |
| End Page: | 39 |
| Abstract: | In this paper, we propose a language grounding method that relates verbs which imply body manipulation to motor angle patterns in a humanoid robot to make robots more entertaining. In established methods, verbs are represented by statistical models based on trajectories or motor patterns of a trajector. In our method we use a novel representation model that has six features including both trajector-reference point relationships and the trajector’s trajectory. By using this model, some verbs which do not depend on a trajectory, e.g. ”move the right hand close to the left hand.” are represented more adequately. In our language grounding method a humanoid robot generates abstract verb meanings independent of context. As input it uses sets of a user input textual command and a motor pattern. The motor pattern is taught using direct physical feedback resembling playing with child. We implemented the algorithm in a humanoid robot and conducted a verb acquisition experiment. As a result, four problematic verbs, ”place-on”, ”move-close-to”, ”move-away-from”, and ”touch-with” were acquired correctly. |
| Conference Name: | Artificial Intelligence and Interactive Digital Entertainment Conference |
| Conference Sequence: | 5 |
| Conference Place: | Stanford, California |
| Type: | proceedings |
| URI: | http://hdl.handle.net/2115/63643 |
| Appears in Collections: | 情報科学院・情報科学研究院 (Graduate School of Information Science and Technology / Faculty of Information Science and Technology) > 雑誌発表論文等 (Peer-reviewed Journal Articles, etc)
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Submitter: RZEPKA Rafal
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