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A Kendama learning robot based on bi-directional theory

1996

Article

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A general theory of movement-pattern perception based on bi-directional theory for sensory-motor integration can be used for motion capture and learning by watching in robotics. We demonstrate our methods using the game of Kendama, executed by the SARCOS Dextrous Slave Arm, which has a very similar kinematic structure to the human arm. Three ingredients have to be integrated for the successful execution of this task. The ingredients are (1) to extract via-points from a human movement trajectory using a forward-inverse relaxation model, (2) to treat via-points as a control variable while reconstructing the desired trajectory from all the via-points, and (3) to modify the via-points for successful execution. In order to test the validity of the via-point representation, we utilized a numerical model of the SARCOS arm, and examined the behavior of the system under several conditions.

Author(s): Miyamoto, H. and Schaal, S. and Gandolfo, F. and Koike, Y. and Osu, R. and Nakano, E. and Wada, Y. and Kawato, M.
Book Title: Neural Networks
Volume: 9
Number (issue): 8
Pages: 1281-1302
Year: 1996

Department(s): Autonomous Motion
Bibtex Type: Article (article)

Cross Ref: p671
Note: clmc
URL: http://www-clmc.usc.edu/publications/M/miyamoto-NN1996.pdf

BibTex

@article{Miyamoto_NN_1996,
  title = {A Kendama learning robot based on bi-directional theory},
  author = {Miyamoto, H. and Schaal, S. and Gandolfo, F. and Koike, Y. and Osu, R. and Nakano, E. and Wada, Y. and Kawato, M.},
  booktitle = {Neural Networks},
  volume = {9},
  number = {8},
  pages = {1281-1302},
  year = {1996},
  note = {clmc},
  crossref = {p671},
  url = {http://www-clmc.usc.edu/publications/M/miyamoto-NN1996.pdf}
}