NDLI: Motivation oriented action selection for understanding dynamics of objects

Content Provider	IEEE Xplore Digital Library
Author	Suzuki, T. Yano, S. Suzuki, K.
Copyright Year	2008
Description	Author affiliation: Dept. of Intell. Interaction Technol., Univ. of Tsukuba, Tsukuba (Suzuki, T.; Yano, S.; Suzuki, K.)
Abstract	In this study, we propose a synthetic methodology that can enable a humanoid robot to understand the dynamics of objects in a psychological framework. The action selection of the robot is carried out based on a selection probability determined by several internal variables that draws upon the motivation mechanism of human beings. This makes the robot classify its action space by a sensory feedback caused by its own action. The system prioritizes actions that are expected to cause distinguishing sensory patterns. The action selection probability allows the robot to explore unknown spaces for understanding the dynamics of objects in a real environment. In our experiment, we demonstrate the performance of object clustering by multi-modal active sensing using the proposed action selection rule. Furthermore, we show that the system allows the robot to build knowledge about common object movements by repeating interactions with several different types of objects, and also to predict the movement of unknown objects.
Starting Page	846
Ending Page	851
File Size	543623
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4651185
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Robot sensing systems Sensors Fingers Probability Joints Head
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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