知能行動制御連携ユニット

生物の持つ未知環境への極めて高い適応能力は、従来の人工物制御法の応用では達成が非常に困難な目標です。本研究では、生物制御の原理として我々が提案する複合制御を用いて、未知環境との相互作用を通じて、ロボットが行動を学習し、自律的に活動可能な制御手法の開発を目指しています。

研究テーマ

• 人工知能
• 行動学習
• 生物制御

主要論文

1. Shingo Shimoda, Yuki Yoshihara and Hidenori Kimura:
   "Adaptability of tacit learning in bipedal locomotion"
   IEEE Transactions on Autonomous Mental Development
2. Tytus Wojtara, Makoto Sasaki, Hitoshi Kounosu, Masashi Yamashita, Shingo Shimoda, Fady Alnajjar, Hidenori Kimura:
   "Artificial Balancer - Supporting Device for Postural Refelex"
   Gait and Posture, No.35, pp316-321, 2012
3. Shingo Shimoda and Hidenori Kimura:
   "Bio-mimetic Approach to Tacit Learning based on Compound Control"
   IEEE Transactions on Systems, Man, and Cybernetics-Part B, Vol. 40, No. 1, pp.77-90, 2010
4. Tytus Wojtara, Masafumi Uchihara, Hideyuki Murayama, Shingo Shimoda, Satoshi Sakai, Hideo Fujimoto, Hidenori Kimura:
   "Human-Robot Collaboration in Precise Positioning of a Three-Dimensional Object"
   Automatica, Vol.45, pp333-342, 2009
5. Shingo Shimoda and Hidenori Kimura:
   "Neural Computation Scheme of Compound Control: Tacit Learning for Bipedal Locomotion"
   Journal of Control, Measurement, and System Integration, Vol. 1, No. 4, pp.275-283, 2008
6. Shingo Shimoda, Yoji Kuroda and Karl Iagnemma:
   "High-speed navigation of unmanned ground vehicles on uneven terrain using potential fields"
   Robotica, Vol.25, pp.409-424, 2007
7. Shingo Shimoda, Takashi Kubota, Ichiro Nakatani:
   "Four-Wheel Hopping Robot with Attitude Control Mechanism"
   Journal of Robotics and Mechatronics, Vol.16 No.3,pp.319-326, 2004