Motion Segmentation and Balancing for a Biped Robot's Imitation Learning

Techniques for transferring human behaviors to robots through learning by imitation/demonstration have been the subject of much study. However, direct transfer of human motion trajectories to humanoid robots does not result in dynamically stable robot movements because of the differences in human an...

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Veröffentlicht in:	IEEE transactions on industrial informatics 2017-06, Vol.13 (3), p.1099-1108
Hauptverfasser:	Hwang, Kao-Shing, Jiang, Wei-Cheng, Chen, Yu-Jen, Shi, Haobin
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Clustering Clustering algorithms Clustering methods Computer simulation Dynamics Human behavior Human motion Humanoid Humanoid robots imitation learning key postures Kinematics Knots Learning (artificial intelligence) Machine learning Motion stability reinforcement learning Robot kinematics Robots Segmentation Similarity Static stability Trajectories Transits
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