Physical human robot interaction in imitation learning

Author

Lee, Dongheui ; Ott, Christian ; Nakamura, Yoshihiko ; Hirzinger, Gerd

Author_Institution

Dept. of Electr. Eng. & Inf. Technol., Tech. Univ. of Munich, Munich, Germany

fYear

2011

fDate

9-13 May 2011

Firstpage

3439

Lastpage

3440

Abstract

This video presents our recent research on the integration of physical human-robot interaction (pHRI) into imitation learning. First, a marker control approach for real time human motion imitation is shown. Secondly, physical coaching in addition to observational learning is applied for the incremental learning of motion primitives. Last, we extend imitation learning to learning pHRI which includes the establishment of intended physical contacts. The proposed methods were implemented and tested using the IRT humanoid robot and DLR´s humanoid upper-body robot Justin.

Keywords

human-robot interaction; humanoid robots; learning (artificial intelligence); mobile robots; DLR humanoid upper-body robot Justin; IRT humanoid robot; human motion imitation; imitation learning; marker control approach; motion primitive incremental learning; observational learning; physical coaching; physical contacts; physical human robot interaction; Education; Hidden Markov models; Humanoid robots; Humans; Robot kinematics; Springs;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Conference_Location

Shanghai

ISSN

1050-4729

Print_ISBN

978-1-61284-386-5

Type

conf

DOI

10.1109/ICRA.2011.5979792

Filename

5979792