Title :
Goal-Directed Imitation in a Humanoid Robot
Author :
Calinon, Sylvain ; Guenter, Florent ; Billard, Aude
Author_Institution :
Autonomous Systems Lab (ASL3) Swiss Federal Institute of Technology Lausanne (EPFL) CH-1015 Lausanne, Switzerland sylvain.calinon@epfl.ch
Abstract :
Our work aims at developing a robust discriminant controller for robot programming by demonstration. It addresses two core issues of imitation learning, namely “what to imitate” and “how to imitate”. This paper presents a method by which a robot extracts the goals of a demonstrated task and determines the imitation strategy that satisfies best these goals. The method is validated in a humanoid platform, taking inspiration of an influential experiment from developmental psychology.
Keywords :
Control systems; Data mining; Humanoid robots; Motor drives; Optimization methods; Psychology; Robot control; Robot programming; Robot sensing systems; Robust control;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570135
