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Knacks and Focuses of Whole Body Movement --- Humanoid Science

全身运动的技巧和重点——人形科学

基本信息

批准号：
15200013
负责人：
KUNIYOSHI Yasuo
金额：
$ 32.53万
依托单位：
The University of Tokyo
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (A)
财政年份：
2003
资助国家：
日本
起止时间：
2003 至 2005
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-15200013/
关键词：
knack focus point humanoid robot get out whole body motion dynamics 瞬発力モーションキャプチャ

项目摘要

In this research, we have regarded "Knacks" and "Focuses" as "Sparse control points" and "Sparse extracted points of control information" on dynamics and information structure of behavior, and have aimed at the experimental clarification, theorization, and construction of application. We have obtained the following result.1.Clarification of "Knacks" and "Focuses" on Skills of Human Whole Body Behaviors : We revealed a relationship between a global structure of dynamical state trajectory of a movement task and the success condition of performance, applied to dynamic roll-and-rise motion, by integration of our works including measurements and analyses of the human movement, and simulations and analyses of the dynamical model (Clarification of "Knacks"). And we revealed by our quantitative experiment, that humans focus on similar points to the control point when they observe other person's motion and judge success or failure of it. (Clarification of "Focuses").2.Realizing Whole Body Dynam … More ic Motion by an Adult-size Humanoid Robot : We succeeded the world's first experiment in which an adult-size humanoid robot realized dynamic roll-and-rise motion. And we revealed a feature which discriminates the performance (success or failure), by analyzing the data from hundreds of real robot experiments. In realizing the above, we also developed original component technology for the highly dynamic robot system, including a drive system capable of very high impulsive force, a very fast control system, and a distributed touch sensor for detecting contact states with the environment.3.The Theory of "Knacks" and "Focuses" and The Auto Extracting Method : Based on results above 1. and 2., we investigated an integration theory of "Knacks" and "Focuses", and constructed an auto extracting method. From view point of global dynamics, we showed that a "Knacks" and "Focuses" refer to the same point on a motion trajectory. This point will be the key to imitation learning of motion as well as minimally obtrusive but effective task assistance. We proposed a method which generates a motion control strategy capturing "Knack" automatically, based on the notion of reachability in the task state space. The effectiveness of the method was confirmed by simulation experiments.To summarize, this project was quite successful with world-leading results including the first scientific clarification of "Knacks" and the first-seen robot motion, manifested by high estimation in the academia and appearance in mass-media. Less

本研究将"诀窍"和"焦点"视为行为动力学和信息结构的"稀疏控制点"和"稀疏控制信息提取点"，旨在实验澄清、理论化和应用构建。研究结果如下：1.阐明了人体整体行为技能的"诀窍"和"重点"：我们揭示了运动任务的动态状态轨迹的全局结构和性能的成功条件之间的关系，应用于动态滚动和上升运动，通过整合我们的工作，包括人体运动的测量和分析，以及动力学模型的模拟和分析（"诀窍"的澄清）。我们通过定量实验发现，人类在观察他人的动作并判断其成功与否时，会将注意力集中在与控制点相似的点上（"焦点"的澄清）。2.实现全身动态 ...更多信息成人人形机器人的ic运动：我们成功地完成了世界上第一个成人人形机器人实现动态滚动和上升运动的实验。通过对数百个真实的机器人实验数据的分析，我们揭示了一个区分性能（成功或失败）的特征。在实现上述目标的过程中，我们还开发了高动态机器人系统的原创组件技术，包括能够提供非常高的冲击力的驱动系统，非常快速的控制系统，以及用于检测与环境接触状态的分布式触摸传感器。3."诀窍"和"焦点"理论和自动提取方法：基于上述结果1.和2.，摘要研究了“诀窍”与“焦点”的结合理论，并构造了一种自动提取方法。从全局动力学的角度，我们证明了“Knacks”和“Focuses”指的是运动轨迹上的同一点。这一点将是模仿运动学习的关键，也是最低限度地引人注目但有效的任务辅助的关键。提出了一种基于任务状态空间可达性的运动控制策略生成方法。通过仿真实验验证了该方法的有效性。综上所述，该项目是相当成功的，取得了世界领先的成果，包括第一次对"Knacks"进行科学的澄清和第一次看到机器人运动，表现在学术界的高度评价和大众媒体的出现。少