Hideaki Takeda's Publication
- K. Terada, T. Nakamura, H. Takeda and
T. Ogasawara: Towards
Cognitive Agents: Embodiment based Object Recognition for Vision-Based Mobile
Agents, in Proceedings of IEEE/RSJ International Conference of
Intelligent Robots and Systems (IROS2000), pp. 2067–2072 (2000).
In this paper,we propose a new architecture for recognizing
objects based on a concept embodiment as one of primitive functions for a
cognitive robot. We define the term embodiment as the size and shape of the
agent's body,locomotive ability and its sensor. According to embodiment,an
object is represented by reaching action paths,which correspond to a set of
sequences of movements taken by the agent for reaching the object. Such
behaviour is acquired by the trial-and-error method based on the visual and
tactile information. Visual information is used to obtain sensorimotor
mapping which represents the relationship between the change of object's
appearance and the movement of the agent. On the other hands,tactile
information is utilized to evaluate the change of physical condition of the
object caused by such movement. By means of this method,the agent can
recognize an object without depending on its position and orientation in the
environment. To show the validity of our method,we show an experimental
result of computer simulation.
Hideaki Takeda (National Institute of Informatics)