Abstraction in Recognition to Solve the Correspondence Problem for Robot Imitation

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Title: Abstraction in Recognition to Solve the Correspondence Problem for Robot Imitation
Authors: Johnson, M
Demiris, Y
Item Type: Conference Paper
Abstract: A considerable part of the imitation problem is finding mechanisms that link the recognition of actions that are being demonstrated to the execution of the same actions by the imitator. In a situation where a human is instructing a robot, the problem is made more complicated by the difference in morphology. In this paper we present an imitation framework that allows a robot to recognise and imitate object-directed actions performed by a human demonstrator by solving the correspondence problem. The recognition is achieved using an abstraction mechanism that focuses on the features of the demonstration that are important to the imitator. The abstraction mechanism is applied to experimental scenarios in which a robot imitates human- demonstrated tasks of transporting objects be- tween tables.
Issue Date: 31-Dec-2004
URI: http://hdl.handle.net/10044/1/12621
Start Page: 63
End Page: 70
Copyright Statement: © 2004 The Authors
Conference Name: Towards Autonomous Robotic Systems, TAROS 2004
Conference Location: Essex, UK
Publication Status: Published
Publisher URL: http://cswww.essex.ac.uk/technical-reports/2004/csm415/
Start Date: 2004-09-06
Finish Date: 2004-09-08
Conference Place: Essex, UK
Appears in Collections:Electrical and Electronic Engineering



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