Primitive-Based Movement Classification for Humanoid Imitation

Primitive-Based Movement Classification for Humanoid Imitation

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by Odest Chadwicke Jenkins , Maja J Matarić , Stefan Weber

Venue:	in ‘Proceedings, First IEEE-RAS International Conference on Humanoid Robotics (Humanoids-2000)’, MIT
Citations:	35 - 11 self

BibTeX

@TECHREPORT{Jenkins_primitive-basedmovement,
    author = {Odest Chadwicke Jenkins and Maja J Matarić and Stefan Weber},
    title = {Primitive-Based Movement Classification for Humanoid Imitation},
    institution = {in ‘Proceedings, First IEEE-RAS International Conference on Humanoid Robotics (Humanoids-2000)’, MIT},
    year = {}
}

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Abstract

Abstract. Motor control is a complex problem and imitation is a powerful mechanism for acquiring new motor skills. In this paper, we describe perceptuo-motor primitives, a biologically-inspired notion for a basis set of perceptual and motor routines. Primitives serve as a vocabulary for classifying and imitating observed human movements, and are derived from the imitator’s motor repertoire. We describe a model of imitation based on such primitives and demonstrate the feasibility of the model in a constrained implementation. We present approximate motion reconstruction generated from visually captured data of typically imitated tasks taken from aerobics, dancing, and athletics. 1

Citations

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