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| Title: | Locomotion Imitation of Humanoid Using Goal-directed Self-adjusting Adaptor |
| Authors: | Yang, Woosung
Chong, Nak Young
Kim, ChangHwan
You, Bum Jae |
| Keywords: | Humanoid robot
Biped locomotion
Imitation learning
Self-adjusting adaptor
ZMP |
| Issue Date: | 2006 |
| Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
| Magazine name: | 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems |
| Start page: | 5650 |
| End page: | 5656 |
| DOI: | 10.1109/IROS.2006.282365 |
| Abstract: | We propose a novel framework for imitation learning that helps a humanoid robot achieve its goal of learning. There are apparent discrepancies in shapes and sizes among humans and humanoid robots. It would be advantageous if robots could learn their behavior from different individuals. Toward this end, this paper discusses appropriate behavior generation method through imitation learning considering that demonstrator and imitator robots have different kinematics and dynamics. As part of a wider interest in behavior generation in general, this work mainly investigates how an imitator robot adapts a reference locomotion gait captured from a demonstrator robot. Specifically, a goal-directed adaptation process that we call self-adjusting adaptor is proposed to achieve stable locomotion of the imitator. The proposed adaptor has an important role that the perceived locomotion patterns are modified to keep the direction of lower leg contacting the ground identical between the demonstrator and the imitator, sustaining the dynamic stability by controlling the position of the center of mass. The validity of the proposed scheme is evaluated through simulations employing various imitator models on OpenHRP and then verified on a real robot. |
| Rights: | Copyright (C) 2006 IEEE. Reprinted from 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, 5650-5656. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of JAIST's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. |
| URI: | http://hdl.handle.net/10119/9752 |
| Material Type: | publisher |
| Appears in Collections: | b11-1. 会議発表論文・発表資料 (Conference Papers)
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