Developmental System Based on the Attention Control of Humanoid Robot with Sensor Flesh Embedded with Multi-axes Tactile Sensors

本研究的目的是澄清的方法来构建硬件和软件的多轴软触觉传感器的仿人机器人。作为这项研究的结果，软传感器外部嵌入多轴软触觉传感器的小型和成人大小的人形机器人的开发。此外，方法，使结构化的数据，为大量的分布式触觉传感器，为他们开发。此外，开发了在机器人与对象之间的紧密交互行为期间调整自适应功能的强化学习系统。

The aim of this research is to clarify the method to construct both hardware and software for humanoid robots with multi-axes soft tactile sensors. As results of this research, soft sensor exteriors embedded with multi-axes soft tactile sensors for both small and adult-size humanoid robots are developed. Also, method to make structured data for the enormous amount of distributed tactile sensors is developed for them. Furthermore, reinforcement learning system which adjusts a function of adaptation during close interaction behavior between the robot and an object is developed.