My Research at BMC, RIKEN



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| Theme of My Research

Soft Human-Interactive Robot, RI-MAN

The bio-mimetic control research center of RIKEN is promoting basic research on the flexible and dynamic motor functions of biological systems. The goal is to create advanced engineering systems such as a soft human interactive robot. The robot developed here is named RI-MAN. RI-MAN exhibits the skill and ability to realize human care and welfare tasks. RI-MAN will become an invaluable partner robot.

Cognitive Integrated Task Learning for Environmental Adaptive Robot

Recently, active researches have been performed to increase a robot's intelligence so as to realize the dexterous tasks in complex environment such as in the street or homes. However, since the skillful human-like task ability is so difficult to be formulated for the robot, not only the analytical and theoretical control researches but also the direct human motion mimetic approach is necessary. In this research, we propose that to realize the environmental interactive task, it is insufficient to replay the human motion along. We show a novel task learning approach to integrate the cognitive information into the mimic of human motions so as to realize the final complex task by the robot. As a detailed example of the task, we consider on how to carry up a human by cooperating two hands.

A 3D Interactive Dynamic Simulation Platform and Its Application in Developing Human Friendly Robots

In this research, we construct a novel simulation environment for developing human interaction robot. This system uses AT-clone computers to calculate 3-dimensional dynamics and collision of a robot when it interacts with human and projects the audiovisual results using an immersion type display. Through dynamic calculation of the robot, human can interact with it directly in real time. This system makes it possible for us to design and examine the next generation of human interactive robot easily and safely. Experiments as a virtual robot interacts with human and performs dynamic motion show the effectiveness of our system.

Network-based Integration and Control of Decentralized Heterogeneous Function Modules of a Dual-armed Redundant Robot

An autonomous decentralized network control system of a robot is constructed via internet. This robot has totally 49 D.O.F. and can communicate with human to perform the required task based on its sound recognition and vision information. In order to realize real time control of so many D.O.F., 9 sets of AT-class PC are involved in controlling each module, such as a head, two arms and two multi-fingered hands, sound recognition and conversation as well as visual recognition. A server is used to coordinate the discrete events between each module. Bio-mimetic researches on hand preshaping when approaching to a specific object, as well as body languages with respect to the sound conversations are introduced into the system so as to realize the human friendly interaction.

| Demonstrations

3D Immersion-type Dynamic Simulation Environment
(See IEEE ICRA-2004 Video Proceedings.)

mpg file (41.0MB)
Soft Human Interactive Robot RI-MAN
(See IEEE/RSJ IROS-2006 Video Proceedings.)

mpg file (44.5MB)
Generation of Human Care Behaviors
(See IEEE ICRA-2007 Video Proceedings.)

mpg file (57.9MB)
Imitation Behaviors in Consideration for Recognition Results
(See T.IEEJ, vol.125-C, no.6, pp.856-862.)

mpg file (17.4MB)
Whole Body Manipulation using Tactile information
(See ICRA2007)

mpg file (11.0MB)
Development of Haptic Device for Immersion-type Simulator

mpg file (9.96MB)
Construct A Robot Control System by Integrating Distributed Network Module
(See SICE SI2003,pp.752-753,Dec. 2003.)

mpg file(20.6MB)

| Publicated Papers and International Conferences

Yuichi Kobayashi, Masaki Onishi, Shigeyuki Hosoe and Zhiwei Luo,
``Approach to Parallel Tasks of Human-interacting Robot using Optimization,''
Journal of the Robotics Society of Japan, vol.27, no.10, pp.1132-1143, Dec. 2009.(in Japanese)
Yuichi Kobayashi, Masaki Onishi, Shigeyuki Hosoe, Zhiwei Luo,
``Behavior Design of A Human-interactive Robot through Parallel Tasks Optimization,''
Distributed Autonomous Robotic Systems 8, Springer Berlin Heidelberg, vol.VIII, pp.565-574, May 2009.
Toshiharu Mukai, Masaki Onishi, Tadashi Odashima, Shinya Hirano, Zheiwei Luo,
``Development of the Tactile Sensor System of a Human-Interactive ``Robot RI-MAN'',''
IEEE Transactions on Robotics, pp.505-512, April 2008.
Yuichi Kobayashi, Masaki Onishi, Shigeyuki Hosoe and Zhiwei Luo,
``Behavior Design of Human-interactive Robot by Stochastic Petri-net and Optimal Control,''
IEEE SMC International Conference on Distributed Human-Machine Systems, pp.69-76, March 2008.
Masaki Onishi, Tadashi Odashima, Zheiwei Luo,
``Whole Body Manipulation Using Tactile Information,''
Transactions of the Society of Instrument and Control Engineers, vol.44, no.1, pp.78-85, Jan. 2008.(in Japanese)
pdf file
Kei Akiyama, Zhi-wei Luo, Masaki Onishi, Shigeyuki Hosoe, Kouichi Taji, Yoji Uno,
``Video Restoration with Motion Prediction based on the Multiresolution Wavelet Analysis, ''
The 14th International Conference on Neural Information Processing (ICONIP 2007), TP-15, Nov. 2007．
K.Akiyama, Z.W.Luo, M.Onishi, S.Hosoe,
``Restoration of Degraded Moving Image for Predicting a Moving Object,''
T.IEEJ, vol.127-C, no.7, pp.1089-1098, July 2007. (in Japanese)
Tadashi Odashima, Masaki Onishi, Kenji Tahara, Toshiharu Mukai, Shinya Hirano, Zhi Wei Luo, Shigeyuki Hosoe,
``Development and Evaluation of a Human-interactive Robot Platform ``RI-MAN'',''
Journal of the Robotics Society of Japan, vol.25, no.4, pp.554-565, May 2007.(in Japanese)
pdf file
Masaki Onishi, ZhiWei Luo, Tadashi Odashima, Shinya Hirano, Kenji Tahara, Toshiharu Mukai,
``Generation of Human Care Behaviors by Human-Interactive Robot RI-MAN,''
Proceedings of IEEE International Conference on Robotics & Automation, pp.126-127(with videos), April 2007.
pdf file
T.Mukai, M.Onishi, S.Hirano, Z.W.Luo,
``Development of Soft Areal Tactile Sensors for Human-Interactive Robots,''
The 5th IEEE International Conference on Sensors, pp.831-834, Oct. 2006.
Tadashi Odashima, Masaki Onishi, Kenji Tahara, Kentaro Takagi, Fumihiko Asano, Yo Kato, Hiromichi Nakashima, Yuichi Kobayashi, Toshiharu Mukai, Zhiwei Luo, Shigeyuki Hosoe,
``A Soft Human-Interactive Robot RI-MAN,''
Video Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2006.
Kentaro Takagi, Masanori Yamamura, Zhi-Wei Luo, Masaki Onishi, Shinya Hirano, Kinji Asaka, Yoshikazu Hayakawa,
``Development of a Rajiform Swimming Robot Using Ionic Polymer Artificial Muscles,''
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.1861-1866, Oct. 2006.
M.Yamamura, K.Takagi, Z.W.Luo, K.Asaka, Y.Hayakawa, M.Onishi, S.Hirano,
``An Autonomous Ray-Like Swimming Robot with IPMC Artificial Muscle,''
Proceedings of the 3rd Conference on Artificial Muscles - A Nanobiotechnology Research :The Perspective of Artificial Muscles -, May 2006.
K.Akiyama, Z.W.Luo, M.Onishi, S.Hosoe,
``Restoration of Degraded Moving Image for Predicting a Moving Object,''
Proceedings of the 1st International Conference on Computer Vision Theory and Applications, pp.72-79, Feb. 2006.
pdf file
M.Onishi, T.Odashima, Z.W.Luo, S.Hosoe,
``Cognitive Integrated Motion Generation for Environmental Adaptive Robots,''
T.IEEJ, vol.125-C, no.6, pp.856-862, June 2005. (in Japanese)
pdf file, English abstract
M.Onishi, T.Odashima, Z.W.Luo, S.Hosoe,
``An Immersion Type 3D Dynamic Simulation Environment for Developing Human Interactive Robot Systems,''
Trans. IEICE (D-II), vol.J88-D-II, no.2, pp.368-377, Feb. 2005. (in Japanese)
pdf file
K.Tahara, Z.W.Luo, T.Odashima, M.Onishi, F.Asano, A.Kato,
``Modeling and Dynamic Simulation of Super-redundant Musculo-skeletal System,''
Proceedings of the Complex Systems Intelligence and Modern Technological Applications (CSIMTA), pp.503-508, Sep. 2004.
pdf file
K.Akiyama, Z.W.Luo, M.Onishi, T.Yagi, S.Hosoe,
``Local Computation of Optical Flow Using a Silicon Retina,''
Trans. IEICE (D-II), vol.J87-D-II, no.7, pp.1462-1472, July 2004. (in Japanese)
pdf file
K.Tahara, T.Odashima, M.Onishi, F.Asano, Z.W.Luo, S.Hosoe,
``Development of A Dynamic Human Movement Analysis Platform,''
Proceedings of the Second Conference on Artificial Muscles - Biomimetic System Engineering -, May 2004.
pdf file
Masaki Onishi, Tadashi Odashima, Zhiwei Luo, Shigeyuki Hosoe,
``3D Immersion-type Dynamic Simulation Environment for Developing Human Interactive Robot,''
Video Proceedings of IEEE International Conference on Robotics & Automation, April 2004.
pdf file (See mpeg file of DEMO 1.)
Z.W.Luo, M.Onishi, T.Odashima, K.Oyama, F.Asano, S.Hosoe,
``Integration of PC-based 3D Immersion Technology For Bio-mimetic Study of Human Interactive Robotics,''
Proceedings of the 2003 IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, pp.13-18, Oct. 2003.
pdf file
Tadashi Odashima, Masaki Onishi, Zhiwei Luo, Shigeyuki Hosoe,
``Immersion Type Virtual environment for Human-robot interaction,''
Proc. of IEEE International Conference on Systems, Man & Cybernetics (SMCC03), pp.3651-3656, Oct. 2003.
pdf file
Masaki Onishi, Tadashi Odashima, Fumihiko Asano, Zhiwei Luo,
``Development of PC-based 3D Dynamic Human Interactive Robot Simulator,''
Proc. of IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA2003), pp.1213-1218, July 2003.
pdf file

| Etc

SICE, vol.41, no.12, Dec. 2002. (cover design)

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