TY - GEN
T1 - Tool-Use Model Considering Tool Selection by a Robot Using Deep Learning
AU - Saito, Namiko
AU - Kim, Kitae
AU - Murata, Shingo
AU - Ogata, Tetsuya
AU - Sugano, Shigeki
N1 - Funding Information:
This work was supported in part by a JSPS Grant-in-Aid for Scientific Research (S) (No.25220005), JST CREST Grant Number: JPMJCR15E3, and the “Fundamental Study for Intelligent Machine to Coexist with Nature” program of Research Institute for Science and Engineering, Waseda University, Japan.
Publisher Copyright:
© 2018 IEEE.
PY - 2019/1/23
Y1 - 2019/1/23
N2 - We propose a tool-use model that can select tools that require neither labeling nor modeling of the environment and actions. With this model, a robot can choose a tool by itself and perform the operation that matches a human command and the environmental situation. To realize this, we use deep learning to train sensory motor data recorded during tool selection and tool use as experienced by a robot. The experience includes two types of selection, namely according to function and according to size, thereby allowing the robot to handle both situations. For evaluation, the robot is required to generate motion either in an untrained situation or using an untrained tool. We confirm that the robot can choose and use a tool that is suitable for achieving the target task.
AB - We propose a tool-use model that can select tools that require neither labeling nor modeling of the environment and actions. With this model, a robot can choose a tool by itself and perform the operation that matches a human command and the environmental situation. To realize this, we use deep learning to train sensory motor data recorded during tool selection and tool use as experienced by a robot. The experience includes two types of selection, namely according to function and according to size, thereby allowing the robot to handle both situations. For evaluation, the robot is required to generate motion either in an untrained situation or using an untrained tool. We confirm that the robot can choose and use a tool that is suitable for achieving the target task.
UR - http://www.scopus.com/inward/record.url?scp=85062265463&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85062265463&partnerID=8YFLogxK
U2 - 10.1109/HUMANOIDS.2018.8625048
DO - 10.1109/HUMANOIDS.2018.8625048
M3 - Conference contribution
AN - SCOPUS:85062265463
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 814
EP - 819
BT - 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018
PB - IEEE Computer Society
T2 - 18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018
Y2 - 6 November 2018 through 9 November 2018
ER -