Developmental human-robot imitation learning of drawing with a neuro dynamical system

Keita Mochizuki, Shun Nishide, Hiroshi G. Okuno, Tetsuya Ogata

研究成果: Conference contribution

25 被引用数 (Scopus)

抄録

This paper mainly deals with robot developmental learning on drawing and discusses the influences of physical embodiment to the task. Humans are said to develop their drawing skills through five phases: 1) Scribbling, 2) Fortuitous Realism, 3) Failed Realism, 4) Intellectual Realism, 5) Visual Realism. We implement phases 1) and 3) into the humanoid robot NAO, holding a pen, using a neuro dynamical model, namely Multiple Timescales Recurrent Neural Network (MTRNN). For phase 1), we used random arm motion of the robot as body babbling to associate motor dynamics with pen position dynamics. For phase 3), we developed incremental imitation learning to imitate and develop the robot's drawing skill using basic shapes: circle, triangle, and rectangle. We confirmed two notable features from the experiment. First, the drawing was better performed for shapes requiring arm motions used in babbling. Second, performance of clockwise drawing of circle was good from beginning, which is a similar phenomenon that can be observed in human development. The results imply the capability of the model to create a developmental robot relating to human development.

本文言語English
ホスト出版物のタイトルProceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
ページ2336-2341
ページ数6
DOI
出版ステータスPublished - 2013
イベント2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013 - Manchester, United Kingdom
継続期間: 2013 10 132013 10 16

出版物シリーズ

名前Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013

Other

Other2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
CountryUnited Kingdom
CityManchester
Period13/10/1313/10/16

ASJC Scopus subject areas

  • Human-Computer Interaction

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