Mimesis from partial observations

Dongheui Lee, Yoshihiko Nakamura

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

19 Zitate (Scopus)

Abstract

In this paper, a new mimesis scheme is proposed. This scheme enables for a humanoid to imitate human's motion even though the humanoid cannot see human's whole-body motion and the humanoid has not seen the exactly same motion so far. Mimesis framework is based on continuous Hidden Markov Model. Viterbi algorithm is applied in order to generate more various motion patterns than the number of existing Hidden Markov Models. In order to imitate other's motion in a smooth way, a smoothing technique in generation problem is realized. The feasibility of this method is demonstrated by simulation on a 20 degrees of freedom humanoid robot configuration.

OriginalspracheEnglisch
Titel2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Herausgeber (Verlag)IEEE Computer Society
Seiten3758-3763
Seitenumfang6
ISBN (Print)0780389123, 9780780389120
DOIs
PublikationsstatusVeröffentlicht - 2005
Extern publiziertJa

Publikationsreihe

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

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