| Presentation | 1996/10/28 Teaching By Showing for Task Level Robot Learning Hiroyuki Miyamoto, Hiroshi Imamizu, Rieko Osu, Shinya Kotosaka, Stefan Schaal, Mitsuo Kawato, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | A general theory of movement pattern perception based on dynamic optimization theory can be used for motion capture, movement pattern recognition, and teaching by showing in robotics. We integrated three ingredients for tennis serve executed by the SRC (Sarcos Research Corporation) arm which has exactly the same kinematic structure as the human arm. (1)via-points extraction from human movement trajectory using forward-inverse relaxation model (FIRM), (2)computational understanding of tennis serve so that only a few via points have the essential roles for successful execution, (3)treat these via-points as a control variable while reconstructing desired trajectory from all the via-points. We demonstrated that the arm can execute tennis serve with this strategy. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | learning by watching / task level learning |
| Paper # | NC96-47 |
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| Conference Information | |
| Committee | NC |
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| Conference Date | 1996/10/28(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | |
| Vice Chair | |
| Secretary | |
| Assistant | |
| 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) | Teaching By Showing for Task Level Robot Learning |
| Sub Title (in English) | |
| Keyword(1) | learning by watching |
| Keyword(2) | task level learning |
| 1st Author's Name | Hiroyuki Miyamoto |
| 1st Author's Affiliation | Japan Science and Technology Corporation, Kawato Dynamic Brain Project() |
| 2nd Author's Name | Hiroshi Imamizu |
| 2nd Author's Affiliation | Japan Science and Technology Corporation, Kawato Dynamic Brain Project |
| 3rd Author's Name | Rieko Osu |
| 3rd Author's Affiliation | Japan Science and Technology Corporation, Kawato Dynamic Brain Project |
| 4th Author's Name | Shinya Kotosaka |
| 4th Author's Affiliation | Japan Science and Technology Corporation, Kawato Dynamic Brain Project |
| 5th Author's Name | Stefan Schaal |
| 5th Author's Affiliation | Japan Science and Technology Corporation, Kawato Dynamic Brain Project:Georgia Institute of Technology |
| 6th Author's Name | Mitsuo Kawato |
| 6th Author's Affiliation | ATR Human Information Processing Research Laboratories |
| Date | 1996/10/28 |
| Paper # | NC96-47 |
| Volume (vol) | vol.96 |
| Number (no) | 331 |
| Page | pp.pp.- |
| #Pages | 8 |
| Date of Issue | |