著者

稲葉 雅幸 星野 由紀子 井上 博允

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.16, no.1, pp.80-86, 1998-01-15

被引用文献数

17 7

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We present design and implementation of a tactile sensor system, sensor suit, that covers the entire body of a robot. The sensor suit is designed to be soft and flexible and to have a large number of sensing regions by using electrically conductive fabric and string. The whole signals from the sensor suit are superimposed on a visual image of the robot. The construction of sensor suit with 160 sensing elements for a full-body humanoid and the experimental results to evaluate electrically conductive fabric and the tactile sensing unit are described.

著者

星野 由紀子 河本 献太 野田 邦昭 佐部 浩太郎

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.29, no.1, pp.77-88, 2011 (Released:2011-02-25)

参考文献数

21

被引用文献数

1

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Continual and autonomous learning are key features for a developmental agent in open-ended environments. This paper presents a mechanism of self-regulated learning to realize them. Considering the fact that learning progresses only when the learner is exposed to appropriate level of uncertainty, we propose that an agent's learning process be guided by the following two metacognitive strategies throughout its development: (a) Switch of behavioral strategies to regulate the level of expected uncertainty, and (b) Switch of learning strategies in accordance with the current subjective uncertainty. With this mechanism, we demonstrate efficient and stable online learning of a maze where only local perception is provided: the agent autonomously explores an environment of significant-scale, and self-develops an internal model that properly describes the hidden structure behind its experience.

著者

中井 博之 星野 由紀子 稲葉 雅幸 井上 博允

出版者

日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.20, no.6, pp.625-630, 2002-09-15 (Released:2010-08-25)

参考文献数

13

被引用文献数

2 9 3

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This paper describes the design and development of softening deformable structure which enables robots to have high shape adaptability. This structure is made of a low-melting-point alloy and can be made soft and deformable through a phase change induced by heating. In the soft deformable state, it can be changed their shape by pressing themselves against objects and by using their own weight. On the other hand, in the hard state, it is enough stiff to be a part of a robot. Using this structure, we have developed two types of legged robots which have softening deformable legs. The first robot can reconstruct its original shape through reheating. The second robot has higher deformation ability and realize grasping objects, walking on a pillar and going up a ladder, which are difficult to do with its original shape, by deforming the shapes of the legs.