NDLI: Constraining movement imitation with reflexive behavior: Robot squatting

Content Provider	IEEE Xplore Digital Library
Author	Gams, A. Petric, T. Babic, J. Zlajpah, L. Ude, A.
Copyright Year	2011
Description	Author affiliation: Jožef Stefan Institute, Ljubljana, Slovenia (Gams, A.; Petric, T.; Babic, J.; Zlajpah, L.; Ude, A.)
Abstract	Direct imitation of human movement with a humanoid robot, which has a similar kinematic structure, does not guarantee a successful completion of the task because of different dynamical properties. Our research starts by showing how to apply a generalization algorithm to extract the desired movement primitives from multiple human demonstrations. The emphasis of the paper is on a method that constrains the extracted movement primitives when mapping them to a robot, taking into account a critical criterion of the task. As a practical example we study the stability of a robot, which is determined through a normalized zero-moment-point. Our approach is based on prioritized task control and allows direct movement transfer as long as the selected criterion is met. It only constrains the movement when the criterion approaches a critical condition. The critical condition thus triggers a reflexive, subconscious behavior, which has higher priority than the desired, conscious movement. We demonstrate the properties of the algorithm on a real, human-inspired leg robot developed in our laboratory.
Starting Page	294
Ending Page	299
File Size	2567038
Page Count	6
File Format	PDF
ISBN	9781612848662
ISSN	21640580
e-ISBN	9781612848686
e-ISBN	9781612848679
DOI	10.1109/Humanoids.2011.6100816
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-10-26
Publisher Place	Slovenia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Stability criteria Humans Robot sensing systems Trajectory Joints
Content Type	Text
Resource Type	Article

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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
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