Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/5938
Título: | Goal-directed Imitation for Robots: a bio-inspired approach to action understanding and skill learning |
Autor(es): | Erlhagen, Wolfram Mukovskiy, Albert Bicho, E. Panin, Giorgio Kiss, Casba Knoll, Alois Van Schie, Hein Bekkering, Harold |
Palavras-chave: | Imitation learning Goal inference Action understanding action sequence dynamic field mirror neurons |
Data: | Mai-2006 |
Editora: | Elsevier |
Revista: | Robotics and autonomous systems |
Citação: | "Robotics and autonomous systems". ISSN 0921-8890. 54:5 (May 2006) 353-360. |
Resumo(s): | In this paper we present a robot control architecture for learning by imitation which takes inspiration from recent discoveries in action observation/execution experiments with humans and other primates. The architecture implements two basic processing principles: 1) imitation is primarily directed toward reproducing the goal/end state of an observed action sequence, and 2) the required capacity to understand the motor intention of another agent is based on motor simulation. The control architecture is validated in a robot system imitating in a goal-directed manner a grasping and placing sequence displayed by a human model. During imitation, skill transfer occurs by learning and representing ppropriate goal-directed sequences of motor primitives. After having established computational links between the representations of goal and means, further knowledge about the meaning of objects is transferred (“where to place specific objects”). The robustness of the goal-directed organization of the controller is tested in the presence of incomplete visual information and changes in environmental constraints. |
Tipo: | Artigo |
URI: | https://hdl.handle.net/1822/5938 |
DOI: | 10.1016/j.robot.2006.01.004 |
ISSN: | 0921-8890 |
Arbitragem científica: | yes |
Acesso: | Acesso aberto |
Aparece nas coleções: | CAlg - Artigos em revistas internacionais / Papers in international journals DEI - Artigos em revistas internacionais Offmath - Artigos (Papers) |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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RAS_Erlhagen_et_al.pdf | pre-print | 390,95 kB | Adobe PDF | Ver/Abrir |