Programming Attention Control

Inaba Masayuki

JSK Robotics Lab, Department of Creative Informatics, Department of Mechano-Informatics

Graduate School of Information Science and Technology

The University of Tokyo


This talk will discuss on attention control (AC) in robot behaviors to get goals and achieve them with interpreting perceptions. What are required for controling attentions with real sensors and how to embed the function into robot systems for programming are crucial design issues for real robot systems. In this talk, typical ACs are presented with introducing historic and ongoing activities in the JSK Robotics Lab, University of Tokyo ( ACs in rope-handling hand-eye coordination, tracking vision for building AC fundamentals, ACs in task sequence execution with embedded verification vision, ACs in observing human tool manipulation and getting situation changes as goals, ACs in whole-body behaviors on humanoids with sensor suit, ACs in musculoskeletal spined humanoids, ACs in push recovering high-power humanoid, ACs in teaching-playback with automatic acquiring 3D environment maps, ACs in learning failure patterns for task sequence execution, predictive ACs, ACs for human developers, and so on.


Masayuki Inaba is a Professor in Graduate School of Information Science and Technology at the University of Tokyo. He received B.S of Mechanical Engineering in 1981, M.S and Dr. Degrees of Information Engineering from The University of Tokyo in 1983 and 1986 respectively. He was appointed as a lecturer in 1986, an associate professor in 1989, and a professor in 2000 at The University of Tokyo. His research interests include key technologies of robotic system, humanoid and software architecture for advanced robots. His research projects have included hand-eye coordination in rope handling, vision-based robotic server system, remote-brained robot approach, whole-body behaviors in humanoids, robot sensor suit with electrically conductive fabric, musculoskeltal humanoid development, humanoid specialization for home assistance, and developmental integration systems with open source robot platforms.

He received several awards including outstanding Paper Awards in 1987, 1998 and 1999 from the Robotics Society of Japan, JIRA Awards in 1994, ROBOMECH Awards in 1994 and 1996 from the division of Robotics and Mechatronics of Japan Society of Mechanical Engineers, and Best Paper Awards of International Conference on Humanoids in 2000 and 2006 with JSK Robotics Lab members.