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Advances in Robotics: Modeling, Control and Applications
Title
Advances in Robotics: Modeling, Control and Applications
Editor
Calin Ciufudean and Lino García
Price
USD$139.00
ISBN
978-1-461108-443
Clicks
33287

Chapter 8

Advances in Robotics: Modeling, Control and Applications

Instruction Learning Systems for Partner Robots

by Takashi Kuremoto, Kunikazu Kobayashi and Masanao Obayashi

Viewed: 1419

Abstract

Partner robots, such as social service robots, entertainment robots, pet robots, etc., have been developed rapidly in last decades. To elevate the performance of partner robots, the study of human-machine interaction is one of the key techniques (Pavlovic et al., 1997). In this chapter, two kinds of instruction learning systems for partner robots are introduced: (i) one hand image instruction learning system; (ii) two voice instruction learning systems. These systems use Self-Organizing Map (SOM) (Kohonen, 1982, 1995, 1998) to classify the input signals into different categories, and reinforcement learning method to drive a robot selecting actions according to the reward or punishment given by its instructor. In fact, these systems serve as internal models of intelligent robots, classified input signals can be consider as discrete states in a Markov decision process (MDP), and adaptive actions are selected by a stochastic policy which adopts state-action value function (Sutton & Barto, 1998). Furthermore, Kohonen\'s SOM is improved to be Transient-SOM (T-SOM) which is used in the hand image instruction learning system (Kuremoto et al., 2006, Hano et al., 2007), and Parameter-less T-SOM (PL-T-SOM) (Kuremoto et al., 2009), Parameter-less Growing SOM (PL-G-SOM) (Kuremoto et al., 2010, 2011) which are developed for the voice instruction learning systems.

Author Details

Takashi Kuremoto
Yamaguchi University, Japan
Kunikazu Kobayashi
Yamaguchi University, Japan
Masanao Obayashi
Yamaguchi University, Japan

Citation

Takashi Kuremoto, Kunikazu Kobayashi and Masanao Obayashi. Instruction Learning Systems for Partner Robots. In Advances in Robotics: Modeling, Control and Applications. ISBN:978-1-461108-443. iConcept Press. 0000.

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