| Presentation | 2003/10/17 Learning Movement Primitives for Imitation Learning in Humanoid Robots Jun NAKANISHI, Auke IJSPEERT, Stefan SCHAAL, Gordon CHENG, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In this paper, we present our studies on learning complex multijoint movements by learning from demonstration. Kinematic movement plans are described in a set of nonlinear differential equations with well-defined attractor dynamics which we call "dynamical movement primitives," and demonstrated trajectories are learned using locally weighted regression. We present experimental implementation of the proposed method on our humanoid robot for learning discrete and rhythmic movements from demonstration. Furthermore, we suggest an application of rhythmic dynamical movement primitives as a CPG for biped locomotion. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Learning from Demonstration / Dynamical Movement Primitives / Locally Weithged Regression / Biped Locomotion |
| Paper # | PRMU2003-136,NC2003-67 |
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| Conference Information | |
| Committee | NC |
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| Conference Date | 2003/10/17(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Neurocomputing (NC) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Learning Movement Primitives for Imitation Learning in Humanoid Robots |
| Sub Title (in English) | |
| Keyword(1) | Learning from Demonstration |
| Keyword(2) | Dynamical Movement Primitives |
| Keyword(3) | Locally Weithged Regression |
| Keyword(4) | Biped Locomotion |
| 1st Author's Name | Jun NAKANISHI |
| 1st Author's Affiliation | ATR Computational Neuroscience Laboratories() |
| 2nd Author's Name | Auke IJSPEERT |
| 2nd Author's Affiliation | EPFL, Swiss Federal Institute of Technology, Lausanne |
| 3rd Author's Name | Stefan SCHAAL |
| 3rd Author's Affiliation | University of Sourthern California:ATR Computational Neuroscience Laboratories |
| 4th Author's Name | Gordon CHENG |
| 4th Author's Affiliation | ATR Computational Neuroscience Laboratories |
| Date | 2003/10/17 |
| Paper # | PRMU2003-136,NC2003-67 |
| Volume (vol) | vol.103 |
| Number (no) | 392 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |