NDLI: Learning to Imitate Human Movement to Adapt to Environmental Changes

Content Provider	IEEE Xplore Digital Library
Author	Al-Zubi, S. Sommer, G.
Copyright Year	2006
Description	Author affiliation: Cognitive Syst., Christian Albrechts Univ., Kiel (Al-Zubi, S.; Sommer, G.)
Abstract	A model for learning human movement is proposed. The learning model generates plausible trajectories of limbs that mimic the human movement. The learning model is able to generalize these trajectories over extrinsic constraints. These constraints result from the space of start and end configuration of the human body and task-specific constraints such as obstacle avoidance. This generalization is a step forward from existing systems that can learn single gestures only. Such a model is needed to develop humanoid robots that move in a human-like way in reaction to diverse changes in their environment. The model proposed to accomplish this uses a combination of principal component analysis (PCA) and a special type of a topological map called the dynamic cell structure (DCS) network. Experiments on a kinematic chain of 3 joints show that this model is able to successfully generalize movement using a few training samples for both free movement and obstacle avoidance
Sponsorship	IEEE CPS
Starting Page	191
Ending Page	194
File Size	462467
Page Count	4
File Format	PDF
ISBN	0769525210
ISSN	10514651
DOI	10.1109/ICPR.2006.756
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-08-20
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Biological system modeling Humans Humanoid robots Principal component analysis Kinematics Distributed control Animation Joints Biological systems Learning
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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