Deployment of Dynamics-Based Information Processing Model of Intelligence

基于动力学的情报信息处理模型的部署

基本信息

批准号：
15100002
负责人：
NAKAMURA Yoshihiko
金额：
$ 78.12万
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 (S)
财政年份：
2003
资助国家：
日本
起止时间：
2003 至 2007
项目状态：
已结题

项目摘要

1. Dynamical Information Processing Theory We have established two methods for designing dynamical information processing mechanisms based on polynomials and physical dynamics systems. We also introduced a parameter representing the plasticity of dynamical systems and developed learning and development model based on the plasticity. A communication model was realized utilizing the attractors of the dynamical system.2. Mathematical Model of Mirror Neurons We established a mathematical model and its computational algorithms for modeling mirror neurons using Hidden Markov Models (HMM). Based on hierarchical HMMs, we realized the abstract ion of behaviors. We also combined the hierarchical mirror neuron model with language analysis system equipped with a common sense database.3. Experimental Study on Perception and Generation of Behaviors through Humanoid Robots We designed and built a humanoid robot that moves in accordance with the gravity. We also developed a method for acquiring motion patterns and controllers by measuring human motions. Finally, we performed several experiments combining the humanoid robot with the dynamical information processing system, language analysis system, and behavior perception and generation system.4. Simulation of Large-Scale Sensor-Motor System through Detailed Human Musculo-Skeletal Models We developed algorithms for estimating the muscle tensions and simulation human motions based on motion capture data. We accelerated the algorithms for detailed human model by employing parallel processing. A large-scale model was developed for simulating the sensor-motor system of the human body and combined with the dynamical information processing system.

1。动态信息处理理论，我们建立了两种基于多项式和物理动态系统设计动态信息处理机制的方法。我们还引入了一个代表动态系统可塑性的参数，并基于可塑性开发了学习和开发模型。使用动力学系统的吸引者实现了通信模型2。镜像神经元的数学模型我们建立了使用隐藏的马尔可夫模型（HMM）建模镜像神经元的数学模型及其计算算法。基于层次HMM，我们意识到了行为的抽象离子。我们还将层次镜像神经元模型与配备常识数据库的语言分析系统结合在一起。3。通过人形机器人，我们设计并建立了一种按照重力移动的人形机器人的实验研究。我们还开发了一种通过测量人类动作来获取运动模式和控制器的方法。最后，我们进行了多个实验，将人形机器人与动态信息处理系统，语言分析系统以及行为感知和发电系统相结合。4。通过详细的人类肌肉骨骼模型对大规模传感器运动系统的仿真我们开发了基于运动捕获数据估算肌肉张力和模拟人类运动的算法。我们通过采用并行处理来加速算法以详细的人类模型。开发了一个大型模型，用于模拟人体的传感器运动系统，并与动态信息处理系统结合使用。

项目成果

期刊论文数量（177）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Constraints and deformations analysis for machining accuracy assessment of closed kinematic chains

DOI：
10.1109/robot.2004.1308070
发表时间：
2004-01-01
期刊：
2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS
影响因子：
0
作者：
Nakamura, Y;Murai, A
通讯作者：
Murai, A

An omnidirectional vehicle on a basketball

DOI：
10.1109/icar.2005.1507466
发表时间：
2005-07
期刊：
ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.
影响因子：
0
作者：
T. Endo;Y. Nakamura
通讯作者：
T. Endo;Y. Nakamura

A Fast Online Gait Planning with Boundary Condition Relaxation for Humanoid Robots

DOI：
10.1109/robot.2005.1570136
发表时间：
2005-04
期刊：
Proceedings of the 2005 IEEE International Conference on Robotics and Automation
影响因子：
0
作者：
T. Sugihara;Yoshihiko Nakamura
通讯作者：
T. Sugihara;Yoshihiko Nakamura

Development of a cybernetic shoulder-a 3-DOF mechanism that imitates biological shoulder motion