Publication Details

SELECT * FROM publications WHERE Record_Number=671
Reference TypeJournal Article
Author(s)Miyamoto, H.;Schaal, S.;Gandolfo, F.;Koike, Y.;Osu, R.;Nakano, E.;Wada, Y.;Kawato, M.
TitleA Kendama learning robot based on bi-directional theory
Journal/Conference/Book TitleNeural Networks
Keywordsteaching by showing, task-level learning, dynamic optimization, imitation, humanoid robots
AbstractA 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.
Short TitleA Kendama learning robot based on bi-directional theory


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