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Whole-body Learning through Leading
Category:HRP-2 JSK HRP-2 JSK TOP

Research Summary

In order for a humanoid robot to be useful in everyday life, it is important that the robot be able to acquire new behaviors taught by anyone at any time.

For such a learning system, the robot must be able to coordinate its responses, recognize inputs, and perform planning. Our robot currently allows teaching through taking its hand and leading it through an area to walk, posture instruction, and real-time behavior manipulation.

Movies (Under construction)
  • Behaviors created through an arm-guiding interface
  • Repetition of behaviors learned through the arm-guiding interface
  • Takashi OGURA, Kei OKADA, Masayuki INABA, Hirochika INOUE: Realization of On-site Guidance Planner for Humanoid and Behavioral Learning, in 2004 Proceedings of JSME Conference on Robotics and Mechatronics, 2P1-H-76, 2004.
  • Kei Okada, Takashi Ogura, Masayuki Inaba: Tele-operation system for humanoid robots using visual and force sensors, in The 22th Annual Conference on Robotics Society of Japan, 1K17, 2004.
  • Takashi Ogura, Kei Okada, Masayuki Inaba: Realization of Intuitive Humanoid Navigationo System in Flat Grounds and Steps Leading by Hand, in The 22th Annual Conference on Robotics Society of Japan, 1L34, 2004.
  • Takashi OGURA, Atsushi HANEDA, Kei OKADA, Masayuki INABA: Teaching System of Humanoid by Navigation of Autonomous Actions, in The 23rd Annual Conference on Robotics Society of Japan, 1F25, 2005.