力学的情報処理を用いた自己組織的記号獲得と運動生成

抄録

The symbol acquisition and manipulation abilities are one of the inherent characteristics of human beings comparing with other creatures. In this paper, based on recurrent self-organizing map and dynamics-based information processing system, we propose a dynamics based self-organizing map (DBSOM). This method enables designing a topological map using time sequence data, which causes recognition and generation of the robot motion. Using this method, we design the self-organizing symbol acquisition system and robot motion generation system for a humanoid robot. By implementing DBSOM to the robot in the real world, we realize the symbol acquisition from the experimental data and investigate the spatial property of the obtained DBSOM.