2-208 移動ロボットによる教示からのコツの獲得に関する一考察

概要

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This paper studies teaching information understanding by mobile robot from a point of view of skill acquisition. This paper first separates the skill acquisition process into three steps : first is to acquire skill rules for a specific task; second is to acquire rules effective for multiple tasks including unknown ones. The third step is to know how to effectively relearn rules for new tasks. The process of teaching information understanding is viewed as a process of acquiring the above skills. This paper studies the first step of skill acquisition for a specific task by using actual mobile robot. This paper introduces two steps for this skill acquisition. the 1st step is to select the input variables and divide the input space for the control rules based on the teaching information. The 2nd step is to acquire refined rules with an assist from the teacher. This refinement of rules is achieved by re-dividing the input space. The skills are explicitly acquired as differences between the rules before/after the assistance by the expert. Experiments are done to demonstrate the skill acquisition using a mobile robot.
一般社団法人日本機械学会の論文
2002-11-14