Research Emerging Mechine Intelligence : A Tightly Coupled Perdeption-Motion Behavior Approach

研究新兴机器智能：紧密耦合的感知-运动行为方法

• 批准号: 07245102
• 负责人: INOUE Hirochika
• 金额: $ 35.39万
• 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 on Priority Areas
• 财政年份: 1995
• 资助国家: 日本
• 起止时间: 1995 至 1998
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-07245102/
• 关键词: Intelligent Robot; Tightly Coupled Perception-Motion System; Machine Intelligence; Artificial Skill; Real-World Recognition System; Human Machine Cooperation System; Organic Autonomous System; 実時間視覚システム; 脚型ロボット; 感覚行動統合

Objectives of this research program are 1) to explore novel mechanical systems which execute their tasks through tight coupling of perception with motion, 2) to understand emerging mechanisms of machine intelligence of the systems, and 3) to develop real robotic systems endowed with such intelligence. Sokatsu-han, the steering committee, supervises four teams, each team approximately consists of thirty faculty members, has promoted this tightly coupled perception-motion behavior approach, and it has kept various academic activities listed below, including academic seminars and meetings, in order to make this approach be reflected by researchers attending in this program, and its goals have been accomplished successfully.(1) Sokatsu-han, the steering committee, has planed the whole research program, and it has promoted a number of research projects significantly important for future robotics, and it has evaluated all the research results supported by this program.(2) Seminars for this research project were held totally six times over three years in the annual meetings of the academic societies, the Japanese Society of Mechanical Engineering and the Robotics Society of Japan. Additionally, a special organized meeting was held each year, to screen up the progresses, and to make a consensus of the steering policy.(3) An international workshop for this research program was held in 1997.(4) A news letter/bulletin has been published ten times over three years, in order to report significant achievements to researchers in this project simultaneously.(5) A real-time vision system, all-purpose input-output control boards, and a quadruped robot have been developed, in order to form a future infrastructure for experimental robotic systems.(6) All the research results of this program has been published in a CD-ROM media.

本研究计划的目标是1）探索通过感知与运动的紧密耦合来执行任务的新型机械系统，2）理解系统的机器智能的新兴机制，以及3）开发具有这种智能的真实的机器人系统。指导委员会Sokatsu-han管理着四个团队，每个团队约由30名教职员工组成，推广了这种紧密耦合的感知-运动行为方法，并保持了以下列出的各种学术活动，包括学术研讨会和会议，以使这种方法在参加该计划的研究人员中得到体现，并成功实现了其目标。(1)指导委员会Sokatsu-han策划了整个研究计划，并推动了许多对未来机器人技术具有重要意义的研究项目，并对该计划支持的所有研究成果进行了评估。(2)该研究项目的研讨会在三年内在日本机械工程学会和日本机器人学会的年度会议上共举行了六次。此外，每年举行一次特别会议，审查进展情况，并就指导政策达成共识。(3)1997年为这一研究方案举办了一次国际讲习班。(4)三年来，新闻信函/公告已出版十次，以便同时向该项目的研究人员报告重大成就。(5)一个实时视觉系统，通用的输入输出控制板，和一个四足机器人已经开发出来，以形成一个未来的实验机器人系统的基础设施。(6)该项目的所有研究成果已以光盘形式出版。

项目成果

Y. Shirai: "Tightly Coupled Sensor and Behavior for Real World Recognition"Instruments and Control, Magazine of Society of Instrument and Control Engineers(SICE). vol.35, no.4. 256-261 (1996)

Y. Shirai：“用于现实世界识别的紧耦合传感器和行为”仪器与控制，仪器与控制工程师协会（SICE）杂志。

S. Yuta: "Biologically Inspired Autonomous System"Instruments and Control, Magazine of Society of Instrument and Control Engineers(SICE). vol.35, no.4. 268-273 (1996)

S. Yuta：“仿生自主系统”仪器与控制，仪器与控制工程师学会（SICE）杂志。

S.Arimoto: "Enery-based expressions of robot dynamics via nonliner position-dependent circuits" Proc.of the IASTED Int.Conf.on Robotics and Manufacturing. 14-17 (1996)

S.Arimoto：“通过非线性位置相关电路实现机器人动力学的基于能量的表达”Proc.of the IASTED Int.Conf.on Robotics and Manufacturing。

有本 卓: "感覚と行動の統合による実環境の理解"計測と制御. 35・4. 249-255 (1996)

有本隆：“通过感觉和行为的整合来理解真实环境”35・4（1996）。

井上博允: "重点領域研究「知能ロボット」の展開と成果"システム制御情報学会誌. 42・44. 6-12 (1998)

井上博之：“优先领域研究‘智能机器人’的发展和成果”系统、控制和信息工程师学会杂志42・44（1998）。