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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Ga-Ram Park KangGeon Kim ChangHwan Kim Mun-Ho Jeong Bum-Jae You Syungkwon Ra |
| Copyright Year | 2009 |
| Description | Author affiliation: Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, 136-791, Republic of Korea (Ga-Ram Park; KangGeon Kim; ChangHwan Kim; Mun-Ho Jeong; Bum-Jae You; Syungkwon Ra) |
| Abstract | A framework to generate a human-like arm motion of a humanoid robot using an Evolutionary Algorithm(EA)-based imitation learning is proposed. The framework consists of two processes, imitation learning of human arm motions and real-time generating of a human-like arm motion using the motion database evolved in the learning process. The imitation learning builds the database for the humanoid robot that is initially converted from human motion capture data and then evolved using a genetic operator based on a Principal Component Analysis (PCA) in an evolutionary algorithm. This evolution process also considers the minimizing of joint torques in the robot. The database is then used to generate humanoid robot's arm motions in real-time, which look like human's and require minimal torques. The framework is examined for humanoid robot to reach its arms for catching a ball. Additionally, the inverse kinematics problem to determine the final posture of 6-DOF robot arm with a waist for the task of catching a ball, is proposed. |
| Starting Page | 809 |
| Ending Page | 815 |
| File Size | 385619 |
| Page Count | 7 |
| File Format | |
| ISBN | 9781424450817 |
| ISSN | 19449445 |
| DOI | 10.1109/ROMAN.2009.5326070 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-09-27 |
| Publisher Place | Japan |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Evolutionary computation Humanoid robots Humans Databases Kinematics Manipulators Legged locomotion Principal component analysis Differential equations Cognitive robotics |
| Content Type | Text |
| Resource Type | Article |
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