Author
M. Asada
Bio: M. Asada is an academic researcher from Nara Women's University. The author has contributed to research in topics: Developmental robotics & Cognitive development. The author has an hindex of 2, co-authored 4 publications receiving 515 citations.
Papers
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TL;DR: Cognitive developmental robotics aims to provide new understanding of how human's higher cognitive functions develop by means of a synthetic approach that developmentally constructs cognitive functions through interactions with the environment, including other agents.
Abstract: Cognitive developmental robotics (CDR) aims to provide new understanding of how human's higher cognitive functions develop by means of a synthetic approach that developmentally constructs cognitive functions. The core idea of CDR is ldquophysical embodimentrdquo that enables information structuring through interactions with the environment, including other agents. The idea is shaped based on the hypothesized development model of human cognitive functions from body representation to social behavior. Along with the model, studies of CDR and related works are introduced, and discussion on the model and future issues are argued.
519 citations
TL;DR: A post-interaction questionnaire revealed that subjects’ impressions toward the robot were influenced by eye contact between the confederate and robot, and the consistency of the experimental results was discussed in terms of Heiders balance theory.
Abstract: One of the common requirements for a communication robot is to be accepted by humans. Previous work has examined the effects of nonverbal factors on people’s perceptions of robots for such a purpose, but always with a focus on dyadic human–robot interaction; in real human society, however, triadic interaction also plays an important role and should be considered. This paper explores a potential merit offered by the latter form of interaction; specifically, how one form of nonverbal interaction occurring between a robot and humans, eye contact, can be utilized to make the robot appear more acceptable to humans. Experiments are conducted with groups of two humans and an android. One of the humans, the “subject,” is asked to communicate with a second person, the “confederate,” who knows the purpose of the experiment; the confederate’s role is to gaze in such a way that the subject either observes or does not observe eye contact between the confederate and the android. A post-interaction questionnaire reveals that subjects’ impressions toward the robot are influenced by eye contact between the confederate and the robot. Finally, the consistency of the experimental results is discussed in terms of Heider’s balance theory, and future extensions of this research are proposed.
28 citations
01 Jan 2003
TL;DR: This paper presents a method for generating vision-based humanoid behaviors by reinforcement learning with rhythmic walking parameters and is applied to a situation of the RoboCupSoccer Humanoid league.
Abstract: This paper presents a method for generating vision-based humanoid behaviors by reinforcement learning with rhythmic walking parameters. The walking is stabilized by a rhythmic motion controller. The learning process consists of two stages: first one is building an action space so that infeasible combinations of walking parameters are inhibited. The second one is reinforcement learning with the constructed action space and the state space consisting of visual features and posture parameters to find feasible action. The method is applied to a situation of the RoboCupSoccer Humanoid league.
01 Jan 2004
TL;DR: This document describes the development of the Central Pattern Generator, CPG, and some of its features.
Abstract: 二足歩行を実現する手法として,身体と制御器を適切 に設計し,それらのダイナミクスと環境のダイナミクス の引き込み現象を利用するアプローチが最近盛んに研究 されている.受動歩行は緩やかな勾配をアクチュエータ無 しに重力と慣性力のみを利用して歩行することが可能な 歩行形態であり ,受動歩行にアクチュエータを加えるこ とで平地での安定な歩行を目指した研究が行われている 2, 3, 4, . 生物が生得的に持つ神経回路振動子 (Central Pattern Generator, CPG) を非線形振動子によってモデ ル化した制御器は,環境の変動に対してある程度安定な 歩行を実現できることが示されている 6, .これらの歩 行ではロボット自身の持つダイナミクスを積極的に利用 することで制御を簡単化することができ,環境との相互 作用を利用することで環境変動に対して適応的であるこ とが期待されている.しかし一方で,環境との相互作用 が複雑になると身体や制御器のダイナミクスを適切に設 計することは簡単ではなく,これらのアプローチによっ て実現されている実ロボットでの二足歩行も,歩行を矢 状面内に限定したものがほとんどである. 3次元における 2足歩行を実現するためには,前額面 内の運動と矢状面内の運動を適切に組み合わせる必要が ある.すでに長谷川らは前額面内に着目して安定な揺動 運動を実現している .しかし,矢上面内の運動と前額 面内の運動を組み合わせるためには,前額面内の運動に おいて安定性を保ちつつも制御できることが重要である. その端緒として,本研究では前額面内の揺動運動の周期 を上半身によって制御する手法を提案する.上半身の姿 勢を遊脚の着地のタイミングによって切り替えることで, 前額面内の揺動運動の安定なリミットサイクルを構成す ることができる.この手法ではロボットが重力によって倒 れ込む受動状態を利用しているため,歩行周期を直接的 に制御パラメータとして制御することができないが,上 半身の振幅を変化させることで目的とする歩行周期への 収束を可能とした.さらに提案手法と単純な矢状面内歩 行制御を組み合わせることで初期的な 3次元 2足歩行を 実現した.
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01 Jan 2010
TL;DR: In this paper, the authors describe a scenario where a group of people are attempting to find a solution to the problem of "finding the needle in a haystack" in the environment.
Abstract: 中枢神経系疾患の治療は正常細胞（ニューロン）の機能維持を目的とするが，脳血管障害のように機能障害の原因が細胞の死滅に基づくことは多い．一方，脳腫瘍の治療においては薬物療法や放射線療法といった腫瘍細胞の死滅を目標とするものが大きな位置を占める．いずれの場合にも，細胞死の機序を理解することは各種病態や治療法の理解のうえで重要である．現在のところ最も研究の進んでいる細胞死の型はアポトーシスである．そのなかで重要な位置を占めるミトコンドリアにおける反応および抗アポトーシス因子について概要を紹介する．
2,716 citations
TL;DR: In this article, a review of recent progress in cognitive science suggests that truly human-like learning and thinking machines will have to reach beyond current engineering trends in both what they learn and how they learn it.
Abstract: Recent progress in artificial intelligence has renewed interest in building systems that learn and think like people. Many advances have come from using deep neural networks trained end-to-end in tasks such as object recognition, video games, and board games, achieving performance that equals or even beats that of humans in some respects. Despite their biological inspiration and performance achievements, these systems differ from human intelligence in crucial ways. We review progress in cognitive science suggesting that truly human-like learning and thinking machines will have to reach beyond current engineering trends in both what they learn and how they learn it. Specifically, we argue that these machines should (1) build causal models of the world that support explanation and understanding, rather than merely solving pattern recognition problems; (2) ground learning in intuitive theories of physics and psychology to support and enrich the knowledge that is learned; and (3) harness compositionality and learning-to-learn to rapidly acquire and generalize knowledge to new tasks and situations. We suggest concrete challenges and promising routes toward these goals that can combine the strengths of recent neural network advances with more structured cognitive models.
2,010 citations
TL;DR: Eye movements reflect visual information searching in multiple conditions and are amenable for cellular-level investigations, which suggests that the oculomotor system is an excellent model system for understanding information-sampling mechanisms.
460 citations
TL;DR: The Self-Adaptive Goal Generation Robust Intelligent Adaptive Curiosity (SAGG-RIAC) architecture is introduced as an intrinsically motivated goal exploration mechanism which allows active learning of inverse models in high-dimensional redundant robots.
409 citations
TL;DR: Soft materials may enable the automation of tasks beyond the capacities of current robotic technology.
Abstract: Soft materials may enable the automation of tasks beyond the capacities of current robotic technology.
323 citations