著者

國吉 康夫 寒川 新司 塚原 祐樹 鈴木 真介 森 裕紀

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.28, no.4, pp.415-434, 2010 (Released:2012-01-25)

参考文献数

82

被引用文献数

4 4

---

Early human motor development has the nature of spontaneous exploration and boot-strap learning, leading to open-ended acquisition of versatile flexible motor skills. Since dexterous motor skills often exploit body-environment dynamics, we formulate the developmental principle as the spontaneous exploration of consistent dynamical patterns of the neural-body-environment system. We propose that partially ordered dynamical patterns emergent from chaotic oscillators coupled through embodiment serve as the core driving mechanism of such exploration. A model of neuro-musculo-skeletal system is constructed capturing essential features of biological systems. It consists of a skeleton, muscles, spindles, tendon organs, spinal circuits, medullar circuits, and a basic cortical model. Models of self-organizing cortical areas for primary somatosensory and motor areas are introduced. A human infant model is constructed and put through preliminary experiments. Some meaningful motor behavior emerged including rolling over and crawling-like motion. The results show the possibility that a rich variety of meaningful behavior can be discovered and acquired by the neural-body dynamics without pre-defined coordinated control circuits.

著者

鈴木 真介 秋山 英三

出版者

一般社団法人情報処理学会

雑誌

情報処理学会研究報告知能と複雑系(ICS) (ISSN:09196072)

巻号頁・発行日

vol.2006, no.37, pp.7-12, 2006-03-28

---

非血縁個体間でみられる協力行動の進化は,しばしば直接的互恵性の理論と間接的互恵性の理論によって説明される.本研究では,直接的互恵性に基づく協力行動の進化と間接的互恵性に基づく協力行動の進化を比較した.計算機シミュレーションによる分析の結果以下のことが分かった: (1)グループの人数が多いとき,間接的互恵性に基づく協力行動は直接的互恵性に基づく協力行動に比べて進化しにくい; (2)グループの人数が少ないときは,「一人でも評判の悪いメンバーがいるグループ内での裏切りを正当な行為とみなす」評判基準(standing)を用いることで,間接的互恵性に基づく協力行動は直接的互恵性に基づく協力行動と同程度に進化しやすくなる.The evolution of cooperation among unrelated individuals is often explained using direct reciprocity or indirect reciprocity. In this study we investigate the relation between direct and indirect reciprocity. The results of the computer simulation show the followings: (1) for large group size, indirect reciprocity cannot facilitate cooperation as effectively as does direct reciprocity; (2) for small group size, indirect reciprocity can facilitate cooperation as effectively as does direct reciprocity if a reputation criterion (standing), under which an individual who has defected in the group with some individuals whose reputation is bad does not change, is adopted.