A Baby Robot Platform for Cognitive Developmental Robotics
A Baby Robot Platform for Cognitive Developmental Robotics
复制标题
用于认知发育机器人的婴儿机器人平台
DOI：
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发表时间：
2009
期刊：
影响因子：
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通讯作者：
E. Menegatti
中科院分区：
文献类型：
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作者：
T. Minato;Fabio DallaLibera;S. Yokokawa;Yutaka Nakamura;H. Ishiguro;E. Menegatti
本文介绍了JST ERATO浅田计划的社会协同智能小组为认知发展机器人开发的一个新的婴儿机器人平台。我们的目标是开发一种具有高性能移动性的婴儿大小的类人机器人，以解决我们团队开发的机器人尚未涵盖的研究问题，例如通过全身运动的叽叽喳喳进行的运动学习和通过触觉交互的运动生成。为此，选择了强大且易于控制的致动器以及能够吸收冲击的坚固结构来允许动态运动的发展。此外，机器人表面覆盖有触摸传感器，以便于研究人与机器人的物理交互。提出了两个将采用新平台的研究课题。前者涉及利用生物波动，这是一种控制方法，灵感来自细菌的趋化性和生长细胞的基因表达，以学习爬行运动。第二个目标是研究触觉作为一种交流手段来发展机器人运动。
This paper presents a new baby robot platform for cognitive developmental robotics developed by the SociallySynergistic Intelligence group of JST ERATO Asada Project. We aim at developing a baby-sized humanoid robot with highperformance mobility to tackle research issues which have not been covered by robots developed in our group, for example, motor learning through whole-body motor babbling and motion generation with tactile interaction. For this purpose, powerful and easily controllable actuators as well as a robust structure able to absorb shocks are chosen to allow the development of dynamical motions. Furthermore the robot surface is covered by touch sensors in order to allow studies in physical humanrobot interaction. Two research topics that will employ the new platform are presented. The former involves the exploitation of biological fluctuations, a control method inspired from the chemotaxis of bacteria and from gene expressions of growing cells, to learn a crawling motion. The second aims at studying touch as a communication mean to develop robot motions.