52DOFs Humanoid Robot driven by Pneumatic Actuators

Reference

• Takashi Minato, Yuichiro Yoshikawa, Tomoyuki Noda, Shuhei Ikemoto, and Hiroshi Ishiguro, "CB2: Child robot with Biomimetic Body for Cognitive Developmental robotics", IEEE-RAS International Conference on Humanoid Robots, 2007.
• Shuhei Ikemoto, Takashi Minato and Hiroshi Ishiguro, "Analysis of Physical Human-Robot Interaction for Motor Learning with Physical Help", IEEE-RAS International Conference on Humanoid Robots, 2008.

Human-in-the-Loop Learning System in Close Physical Human-Robot Interaction

The human-in-the-loop learning system considered in the research, where the behavior of the human influences the behavior of the robot and, simultaneously, the behavior of the robot influences the behavior of the human. After a number of interactions, the learning system queries the memory for a new set of training data. The data are then projected onto a low-dimensional manifold using dimensional reduction techniques. Once the state vectors are projected onto a low dimensional manifold, we group the resulting points into sets according to the action performed in that state. Thus, we obtain for each possible action a set of states in which the corresponding action should be triggered. For each action, a GMM is learned. The model encodes a probability density function of the learned state vectors. In the next round of interaction, the action corresponding to the GMM with the highest likelihood is executed by the robot.

Reference

• Shuhei Ikemoto, Heni Ben Amor, Takashi Minato, and Hiroshi Ishiguro, "Mutual Learning and Adaptation in Physical Human-Robot Interaction", IEEE Robotics & Automation Magazine, Vol. 19, No. 4, pp. 24-35, 2012.
• Shuhei Ikemoto, Heni Ben Amor, Takashi Minato, Hiroshi Ishiguro and Bernhard Jung, "Physical Interaction Learning: Behavior Adaptation in Cooperative Human-Robot Tasks Involving Physical contact", 18th IEEE International Symposium on Robot & Human Interactive Communication, 2009.