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From human grasping to robot grasping
Abstracts ferent intended goals for instructing external devices what to, instead of how to, execute. Subjects were asked to imagine one of four different Arabic numerals, while NIRS was used to record neural correlates in the prefrontal cortex during the task. By using wavelet-based analysis to extract signature features of signals at different bandwidths, we were able to decode 2-bit abstract symbols on a single-trial basis with an accuracy up to 80%. This work could lead to the development of more versatile BMIs, where each thought can be mapped to any high-level goal whose lower–level actions can be performed by smart external devices. doi:10.1016/j.neures.2009.09.976
P2-l02 Feature Extraction for Task Relevant System Identification Jun Morimoto 1,2 , Sang-Ho Hyon 1,2,3 , Mitsuo Kawato 1,2 JST, ICORP, Computational Brain Project, Kyoto, Japan; 2 ATR Computational Neuroscience Labs, Kyoto, Japan; 3 NICT, Kyoto, Japan
S183
Two kinds of force distributors from desired ground reaction force to whole-body joint torque are presented. The one leads to a dynamic balancer which covers hip strategy, with the under-actuated situation, the very severe condition where no ankle torque is available. A simple angular momentum regulator is found to be useful for stabilizing the internal motions due to the joint redundancy. The other distributor leads to a static balancer which lies between ankle and hip strategy. Motivated by the simplicity of the static balancer and the strong push-recovery performance of the dynamic balancer, we present a simple integration of the both controllers by superposition on a compliant humanoid robot. We also show a simple step strategy for re-balance, where the robot takes steps when the push is too large to recover with neither of ankle/hip strategies. doi:10.1016/j.neures.2009.09.980
1
We discuss how we can identify low-dimensional internal dynamics for sensorimotor learning on humanoid robots. Although humanoids have many degrees of freedom, task relevant feature spaces can be much smaller than the number of dimension of the original state space. As an example, we consider a learning problem to improve stepping and walking performance in a reinforcement learning framework. Since many learning trials are required to improve the policies if the robot has many degrees of freedom, it can be useful to have a dynamics model of an environment that has sufficient information to improve the task performance. By using the dynamics model, the amount of required interaction with the real environment to improve the policy can be reduced. We show that we can improve stepping and walking policies of a simulated humanoid model by using a RL method on an identified low-dimensional dynamics in an extracted feature space. doi:10.1016/j.neures.2009.09.977
P2-l03 Learning affordance relations in a mobile robot with limited manipulation capabilities Emre Ugur 1,2 , Erhan Oztop 1,3 , Erol Sahin 2 1
ATR, Kyoto, Japan; 2 Department of CENG., Middle East Technical University, Turkey; 3 NICT, Kyoto, Japan
It is unclear how humans use the continuous flow of low-level sensory-motor experiences to construct discrete entities that can be used and manipulated for a range of cognitive skills. Here we attempt to show how this might take place and used for action planning using a mobile robotic platform. In robotic terms, we are interested in how symbolic planning operators can be grounded in the continuous sensorymotor experiences of a robot from a developmental point of view. Inspired from the concept of affordances that was originally proposed in Ecological Psychology, our method allows the robot to learn the relations among objects, actions, and the effects, i.e. to learn object affordance relations. This enables the robot to predict the changes in object properties when a certain behavior is applied. doi:10.1016/j.neures.2009.09.978
P2-l04 From human grasping to robot grasping Erhan Oztop 1,2 , Baris Ozyer 3 , Emre Ugur 2,3 , Mitsuo Kawato 2 NICT, Kyoto; 2 ATR Computational Neuroscience Laboratories, Kyoto, Japan; 3 Middle East Technical University, Ankara, Turkey
P2-l06 Hierarchical reinforcement learning for biped locomotion Norikazu Sugimoto 1,2 , Sang-Ho Hyon 1,2,3 , Jun Morimoto 2,3 1 3
NICT, Japan; 2 ATR Computational Neuroscience Laboratories, Japan; JST ICORP Computational Brain Project, Japan
We propose a hierarchical reinforcement learning (RL) algorithm for biped locomotion. The lower layer of the hierarchical learning system is composed of simple linear controllers, and the upper layer switches these linear controllers according to state of a biped robot in a Poincare section. Since biped robots have many degrees of freedom in general, naive application of RL to the biped locomotion problem is intractable. By assuming that biped walking dynamics can be decomposed to several linear dynamical systems, we could improve biped walking policies. doi:10.1016/j.neures.2009.09.981
P2-l07 Enhanced contextual fear memory in central serotonindeficient mice Hui-Li Han 1 , Jin-Xia Dai 2 , Meng Tian 1 , Jun Cao 1 , Jian-Bo Xiu 2 , Ning-ning Song 2 , Ying Huang 2 , Tian-Le Xu 2 , Yu-Qiang Ding 2 , Lin Xu 1 1 Key Lab of Animal Models and Human Disease Mechanisms, KIZ, CAS, Kunming, China; 2 Institute of Neurosci and State Key Lab of Neurosc, CAS, Shanghai, China
Central serotonin (5-HT) deficiency is believed to be a major susceptibility factor for mental disorders and learning and memory deficits. Spatial learning in the Morris water maze was unaffected, but the retrieval of spatial memory was impaired. In contrast, contextual fear learning and memory induced by foot-shock was markedly enhanced, which could be prevented by administration (i.c.v) of 5-HT. Foot shock impaired LTP and facilitated LTD in hippocampal slices in wild-type mice but had no effect in 5-HT-deficient mice. Furthermore, bath application of 5-HT in 5-HT-deficient mice restored foot shock-induced alterations of hippocampal synaptic plasticity. Thus, 5-HT modulation of hippocampal synaptic plasticity may be the underlying mechanism for 5-HT regulation of hippocampus-dependent contextual fear memory,. The enhanced fear memory in 5-HT deficient mice supports the notion that 5-HT deficiency confers susceptibility to PTSD in humans. doi:10.1016/j.neures.2009.09.982
1
We will report our ongoing work on task dependent grasping in humans and realization of this skill on a robotic platform. The human movements are recorded using a motion capture system and analyzed off-line or used online to control a robotic system. The off-line results showed that humans deploy different grasps for objects depending on the task specification (e.g. grasping a hammer for prying or driving a nail), even though the orientation and location of the objects were kept the same. The off-line data is also used to derive robot trajectories implementing task depended grasping on a 7-DOF robotic arm and a 16-DOF robotic hand. doi:10.1016/j.neures.2009.09.979
P2-l05 Push-recovery strategies implemented on a compliant humanoid robot Sang-Ho Hyon 1,2,3 , Rieko Osu 2 , Yohei Otaka 4 , Jun Morimoto 2,3 1
NICT, Kyoto, Japan; 2 ATR, Kyoto, Japan; Rehabilitation Hospital, Japan
3
JST, ICORP;
4
Tokyo Bay
We discuss human push-recovery strategies from robotics point of view and evaluate them on a compliant, redundant, human-sized, humanoid robot. We give a unified viewpoint of push-recovery, which covers so-called ankle strategy to hip strategy.
P2-l08 Brain cyclooxygenase and nitric oxide synthase are involved in restraint stress-induced neuronal activation of spinally projecting neurons in rats Naoko Yamaguchi, Shoshiro Okada Department Pharmacol., Grad. Sch. of Medicine, Kochi University, Japan We recently reported that corticotropin-releasing factor (CRF), known as a stressrelated peptide, increases the expression of cyclooxygenase (COX) and nitric oxide synthase (NOS) in spinally projecting neurons in the paraventricular hypothalamic nucleus (PVN), suggesting the possibility that brain COX and NOS mediate stressinduced sympathetic activation. In this study, we examined the effects of inhibitors of COX and NOS isozymes on restraint stress-induced neuronal activation of spinally projecting PVN neurons. Restraint stress induced Fos expression in the spinally projecting PVN neurons. Intraperitoneal administration of a COX-1 inhibitor, a COX-2 inhibitor or an inducible NOS inhibitor reduced the stress-induced Fos expression. On the other hand, a neuronal NOS inhibitor (i.p.) had little effect on the Fos expression. These results suggest that COX-1, COX-2 and inducible NOS mediate stress-induced neuronal activation of spinally projecting PVN neurons related to central sympathetic activation. doi:10.1016/j.neures.2009.09.983
P2-l02 Feature Extraction for Task Relevant System Identification Jun Morimoto 1,2 , Sang-Ho Hyon 1,2,3 , Mitsuo Kawato 1,2 JST, ICORP, Computational Brain Project, Kyoto, Japan; 2 ATR Computational Neuroscience Labs, Kyoto, Japan; 3 NICT, Kyoto, Japan
S183
Two kinds of force distributors from desired ground reaction force to whole-body joint torque are presented. The one leads to a dynamic balancer which covers hip strategy, with the under-actuated situation, the very severe condition where no ankle torque is available. A simple angular momentum regulator is found to be useful for stabilizing the internal motions due to the joint redundancy. The other distributor leads to a static balancer which lies between ankle and hip strategy. Motivated by the simplicity of the static balancer and the strong push-recovery performance of the dynamic balancer, we present a simple integration of the both controllers by superposition on a compliant humanoid robot. We also show a simple step strategy for re-balance, where the robot takes steps when the push is too large to recover with neither of ankle/hip strategies. doi:10.1016/j.neures.2009.09.980
1
We discuss how we can identify low-dimensional internal dynamics for sensorimotor learning on humanoid robots. Although humanoids have many degrees of freedom, task relevant feature spaces can be much smaller than the number of dimension of the original state space. As an example, we consider a learning problem to improve stepping and walking performance in a reinforcement learning framework. Since many learning trials are required to improve the policies if the robot has many degrees of freedom, it can be useful to have a dynamics model of an environment that has sufficient information to improve the task performance. By using the dynamics model, the amount of required interaction with the real environment to improve the policy can be reduced. We show that we can improve stepping and walking policies of a simulated humanoid model by using a RL method on an identified low-dimensional dynamics in an extracted feature space. doi:10.1016/j.neures.2009.09.977
P2-l03 Learning affordance relations in a mobile robot with limited manipulation capabilities Emre Ugur 1,2 , Erhan Oztop 1,3 , Erol Sahin 2 1
ATR, Kyoto, Japan; 2 Department of CENG., Middle East Technical University, Turkey; 3 NICT, Kyoto, Japan
It is unclear how humans use the continuous flow of low-level sensory-motor experiences to construct discrete entities that can be used and manipulated for a range of cognitive skills. Here we attempt to show how this might take place and used for action planning using a mobile robotic platform. In robotic terms, we are interested in how symbolic planning operators can be grounded in the continuous sensorymotor experiences of a robot from a developmental point of view. Inspired from the concept of affordances that was originally proposed in Ecological Psychology, our method allows the robot to learn the relations among objects, actions, and the effects, i.e. to learn object affordance relations. This enables the robot to predict the changes in object properties when a certain behavior is applied. doi:10.1016/j.neures.2009.09.978
P2-l04 From human grasping to robot grasping Erhan Oztop 1,2 , Baris Ozyer 3 , Emre Ugur 2,3 , Mitsuo Kawato 2 NICT, Kyoto; 2 ATR Computational Neuroscience Laboratories, Kyoto, Japan; 3 Middle East Technical University, Ankara, Turkey
P2-l06 Hierarchical reinforcement learning for biped locomotion Norikazu Sugimoto 1,2 , Sang-Ho Hyon 1,2,3 , Jun Morimoto 2,3 1 3
NICT, Japan; 2 ATR Computational Neuroscience Laboratories, Japan; JST ICORP Computational Brain Project, Japan
We propose a hierarchical reinforcement learning (RL) algorithm for biped locomotion. The lower layer of the hierarchical learning system is composed of simple linear controllers, and the upper layer switches these linear controllers according to state of a biped robot in a Poincare section. Since biped robots have many degrees of freedom in general, naive application of RL to the biped locomotion problem is intractable. By assuming that biped walking dynamics can be decomposed to several linear dynamical systems, we could improve biped walking policies. doi:10.1016/j.neures.2009.09.981
P2-l07 Enhanced contextual fear memory in central serotonindeficient mice Hui-Li Han 1 , Jin-Xia Dai 2 , Meng Tian 1 , Jun Cao 1 , Jian-Bo Xiu 2 , Ning-ning Song 2 , Ying Huang 2 , Tian-Le Xu 2 , Yu-Qiang Ding 2 , Lin Xu 1 1 Key Lab of Animal Models and Human Disease Mechanisms, KIZ, CAS, Kunming, China; 2 Institute of Neurosci and State Key Lab of Neurosc, CAS, Shanghai, China
Central serotonin (5-HT) deficiency is believed to be a major susceptibility factor for mental disorders and learning and memory deficits. Spatial learning in the Morris water maze was unaffected, but the retrieval of spatial memory was impaired. In contrast, contextual fear learning and memory induced by foot-shock was markedly enhanced, which could be prevented by administration (i.c.v) of 5-HT. Foot shock impaired LTP and facilitated LTD in hippocampal slices in wild-type mice but had no effect in 5-HT-deficient mice. Furthermore, bath application of 5-HT in 5-HT-deficient mice restored foot shock-induced alterations of hippocampal synaptic plasticity. Thus, 5-HT modulation of hippocampal synaptic plasticity may be the underlying mechanism for 5-HT regulation of hippocampus-dependent contextual fear memory,. The enhanced fear memory in 5-HT deficient mice supports the notion that 5-HT deficiency confers susceptibility to PTSD in humans. doi:10.1016/j.neures.2009.09.982
1
We will report our ongoing work on task dependent grasping in humans and realization of this skill on a robotic platform. The human movements are recorded using a motion capture system and analyzed off-line or used online to control a robotic system. The off-line results showed that humans deploy different grasps for objects depending on the task specification (e.g. grasping a hammer for prying or driving a nail), even though the orientation and location of the objects were kept the same. The off-line data is also used to derive robot trajectories implementing task depended grasping on a 7-DOF robotic arm and a 16-DOF robotic hand. doi:10.1016/j.neures.2009.09.979
P2-l05 Push-recovery strategies implemented on a compliant humanoid robot Sang-Ho Hyon 1,2,3 , Rieko Osu 2 , Yohei Otaka 4 , Jun Morimoto 2,3 1
NICT, Kyoto, Japan; 2 ATR, Kyoto, Japan; Rehabilitation Hospital, Japan
3
JST, ICORP;
4
Tokyo Bay
We discuss human push-recovery strategies from robotics point of view and evaluate them on a compliant, redundant, human-sized, humanoid robot. We give a unified viewpoint of push-recovery, which covers so-called ankle strategy to hip strategy.
P2-l08 Brain cyclooxygenase and nitric oxide synthase are involved in restraint stress-induced neuronal activation of spinally projecting neurons in rats Naoko Yamaguchi, Shoshiro Okada Department Pharmacol., Grad. Sch. of Medicine, Kochi University, Japan We recently reported that corticotropin-releasing factor (CRF), known as a stressrelated peptide, increases the expression of cyclooxygenase (COX) and nitric oxide synthase (NOS) in spinally projecting neurons in the paraventricular hypothalamic nucleus (PVN), suggesting the possibility that brain COX and NOS mediate stressinduced sympathetic activation. In this study, we examined the effects of inhibitors of COX and NOS isozymes on restraint stress-induced neuronal activation of spinally projecting PVN neurons. Restraint stress induced Fos expression in the spinally projecting PVN neurons. Intraperitoneal administration of a COX-1 inhibitor, a COX-2 inhibitor or an inducible NOS inhibitor reduced the stress-induced Fos expression. On the other hand, a neuronal NOS inhibitor (i.p.) had little effect on the Fos expression. These results suggest that COX-1, COX-2 and inducible NOS mediate stress-induced neuronal activation of spinally projecting PVN neurons related to central sympathetic activation. doi:10.1016/j.neures.2009.09.983