Multiple fuzzy state-value functions for human evaluation through interactive trajectory planning of a partner robot

被引:0
作者
Naoyuki Kubota
Yusuke Nojima
Fumio Kojima
Toshio Fukuda
机构
[1] Tokyo Metropolitan University,Department of System Design
[2] PREST,Department of Computer Science and Intelligent Systems
[3] Japan Science and Technology Agency,Department of Mechanical and Systems Engineering
[4] Osaka Prefecture University,Department of Micro System Engineering
[5] Graduate School of Kobe University,undefined
[6] Graduate School of Nagoya University,undefined
来源
Soft Computing | 2006年 / 10卷
关键词
Fuzzy Modeling; Partner Robot; Trajectory Generation; Interactive Genetic Algorithm; Self-Organizing Map;
D O I
暂无
中图分类号
学科分类号
摘要
The purpose of this study is to develop partner robots that can obtain and accumulate human-friendly behaviors. To achieve this purpose, the entire architecture of the robot is designed, based on a concept of structured learning which emphasizes the importance of interactive learning of several modules through interaction with its environment. This paper deals with a trajectory planning method for generating hand-to-hand behaviors of a partner robot by using multiple fuzzy state-value functions, a self-organizing map, and an interactive genetic algorithm. A trajectory for the behavior is generated by an interactive genetic algorithm using human evaluation. In order to reduce human load, human evaluation is estimated by using the fuzzy state-value function. Furthermore, to cope with various situations, a self-organizing map is used for clustering a given task dependent on a human hand position. And then, a fuzzy state-value function is assigned to each output unit of the self-organizing map. The robot can easily obtain and accumulate human-friendly trajectories using a fuzzy state-value function and a knowledge database corresponding to the unit selected in the self-organizing map. Finally, multiple fuzzy state-value functions can estimate a human evaluation model for the hand-to-hand behaviors. Several experimental results show the effectiveness of the proposed method.
引用
收藏
页码:891 / 901
页数:10
相关论文
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