Development of body mapping from human demonstrator to inverted-pendulum mobile robot for imitation

Author

Takahashi, Sataya ; Takahashi, Yasutake ; Maeda, Yoichiro ; Nakamura, Takayuki

Author_Institution

Fac. of Eng., Univ. of Fukui, Fukui, Japan

fYear

2011

fDate

27-30 June 2011

Firstpage

1344

Lastpage

1349

Abstract

This paper addresses development of body mapping from a human demonstrator to an inverted-pendulum mobile robot for imitation. An inverted-pendulum mobile robot with torso and body links learns a dynamic kicking motion shown by a human. The robot observes the human demonstration with a camera, extracts the human region in each of images, maps the region to its own two links, estimates the link posture trajectories, and starts kicking motion learning based on the trajectory parameters for imitation. The mapping parameter gives an important role for successive imitation. A reasonable and feasible procedure of learning from observation for an inverted-pendulum robot and development of the body mapping is proposed and investigated in this paper.

Keywords

cameras; learning (artificial intelligence); mobile robots; nonlinear control systems; path planning; pendulums; body mapping; camera; dynamic kicking motion; human demonstrator; imitation; inverted pendulum mobile robot; learning; Angular velocity; Dynamics; Humans; Mobile robots; Torso; Wheels; corresponding problem; imitation; inverted pendulum wheeled robot; policy gradient method; reinforcement learning;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems (FUZZ), 2011 IEEE International Conference on

Conference_Location

Taipei

ISSN

1098-7584

Print_ISBN

978-1-4244-7315-1

Electronic_ISBN

1098-7584

Type

conf

DOI

10.1109/FUZZY.2011.6007549

Filename

6007549