Prediction and imitation of other's motions by reusing own forward-inverse model in robots

Tetsuya Ogata, Ryunosuke Yokoya, Jun Tani, Kazunori Komatani, Hiroshi G. Okuno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

This paper proposes a model that enables a robot to predict and imitate the motions of another by reusing its body forward-inverse model. Our model includes three approaches: (i) projection of a self-forward model for predicting phenomena in the external environment (other individuals), (ii) "triadic relation" that is mediation by a physical object between self and others, (iii) introduction of infant imitation by a parent. The Recurrent Neural Network with Parametric Bias (RNNPB) model is used as the robot's self forward-inverse model. A group of hierarchical neural networks are attached to the RNNPB model as "conversion modules". Experiments demonstrated that a robot with our model could imitate a human's motions by translating the viewpoint. It could also discriminate known/unknown motions appropriately, and associate whole motion dynamics from only one motion snap image.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages4144-4149
Number of pages6
DOIs
Publication statusPublished - 2009 Nov 2
Externally publishedYes
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: 2009 May 122009 May 17

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2009 IEEE International Conference on Robotics and Automation, ICRA '09
CountryJapan
CityKobe
Period09/5/1209/5/17

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Ogata, T., Yokoya, R., Tani, J., Komatani, K., & Okuno, H. G. (2009). Prediction and imitation of other's motions by reusing own forward-inverse model in robots. In 2009 IEEE International Conference on Robotics and Automation, ICRA '09 (pp. 4144-4149). [5152363] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2009.5152363