Abstract
The capability of action imitation constitutes a fundamental basis of higher human intelligence. In this paper, we first analyze the concept of imitation and mark the essential problems underlying imitation, e.g. redundant sensory and motor degrees of freedom, adaptive mapping, and strong embodiment. It supports a synthetic approach to understanding imitation capabilities, which requires a versatile humanoid robot platform. An overview of our full-body humanoid robot system is presented, which is signified by its versatile physical capabilities and complete open architecture. Then we present our early experiment on multi-modal architecture and behavior imitation with the humanoid. It can continuously interact with humans through visual, auditory and motion modalities in an unmodified everyday environment. And when a person attends to the robot, starting to show a dual arm motion, the robot spontaneously starts to copy it.
The present work has been carried out at Humanoid Interaction Laboratory, ETL, AIST.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Blauert J (1999) Spatial hearing: The psychophysics of human sound localization. The MIT Press, revised edition. Second printing, ISBN 0-262-02413-6.
Brooks RA, Breazeal C, Marjanović M, Scassellati B, Williamson MM (1998) The cog project: Building a humanoid robot. In IARP First International Workshop on Humanoid and Human Friendly Robotics, pp I–1, Tsukuba, Japan.
Cheng G, Kuniyoshi Y (2000a) Complex continuous meaningful humanoid interaction: A multi sensory-cue based approach. In Proceedings of IEEE International Conference on Robotics and Automation, vol 3, pp 2235–2242, San Francisco, U.S.A.
Cheng G, Kuniyoshi Y (2000b) Real-time mimicking of human body motion by a humanoid robot. In Proceedings of the 6th Intelligent Autonomous Systems, pp 273–280, Venice, Italy.
Dautenhahn K (1995) Getting to know each other-artificial social intelligence for autonomous robots. Robotics and Autonomous Systems, 16:333–356.
Hashimoto S et al. (1998) Humanoid robots in Waseda University-Hadaly-2 and WABIAN. In IARP First International Workshop on Humanoid and Human Friendly Robotics, pp I–2, Tsukuba, Japan.
Hayes G, Demiris J (1994) A robot controller using learning by imitation. In Borkowski A, Crowley JL (eds) Proceedings of the 2nd International Symposium on Intelligent Robotic Systems, pp 198–204, Grenoble, France. LIFTA-IMAG.
Hirai K, Hirose M, Haikawa Y, Takenaka T (1998) The development of Honda humanoid robot. In Proceedings of the 1998 IEEE International Conference on Robotics and Automation, pp 1321–1326, Leuven, Belgium.
Inoue H et al. (2000) HRP: Humanoid robotics project. In Humanoids2000, Boston, USA. In Review.
Ishiwata Y (1999) How to use Linux as a real-time OS. Interface, pp 109–118. (In Japanese).
Kato I (1987) Wabot-2; autonomous robot with dexterous finger-arm. In Proceedings of IEEE Robotics and Automation, vol 5 of 2.
Kelso JAS (ed) (1982) Human motor behavior: An introduction. Lawrence Erlbaum Associates, Publishers. ISBN 0-89859-188-0.
Kuniyoshi Y (1994) The science of imitation-towards physically and socially grounded intelligence. Technical Report RWC TR-94001, Real World Computing Project, Tsukubashi, Ibaraki-ken, Japan.
Kuniyoshi Y, Inaba M, Inoue H (1994) Learning by watching: Extracting reusable task knowledge from visual observation of human performance. IEEE Transactions on Robotics and Automation, 10(6):799–822.
Kuniyoshi Y, Inoue H (1993) Qualitative recognition of ongoing human action sequences. In Proc. IJCAI93, pp 1600–1609. Morgan Kaufmann.
Kuniyoshi Y, Nagakubo A (1997a) Humanoid as a research vehicle into flexible complex interaction. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’97).
Kuniyoshi Y, Nagakubo A (1997b) Humanoid interaction approach: Exploring meaningful order in complex interactions. In Proceedings of the International Conference on Complex Systems.
Mataric MJ (1994) Learning motor skills by imitation. In Proc. AAAI Spring Symposium Toward Physical Interaction and Manipultion.
Metta G, Sandini G, Konczak J (1999) A developmental approach to visually-guided reaching in artificial systems. Neural Networks, 12(10):1413–1427.
Miyamoto H, Schaal S, Gandolfo F, Gomi H, Koike Y, Osu R, Nakano E, Wada Y, Kawato M (1996) A kendama learning robot based on bi-directional theory. Neural Networks, 9(8): 1281–1302.
Nagakubo A, Kuniyoshi Y, Cheng G (2000) Development of a high-performance upper-body humanoid system. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’00).
Nishiwaki K, Sugihara T, Kagami S, Kanehiro F, Inaba M, Inoue H (2000) Design and development of research platform for perception-action integration in humanoid robot: H6. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’00), pp 1559–1564, Takamasu, Japan.
Raibert MH (1986) Legged robots that balance. The MIT Press. ISBN 0-262-18117-7.
Schmidt RA, Lee TD (1999) Conditions of practice, chapter 11, pp 316–320. Human Kinetics, third edition. ISBN 0-88011-484-3.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2003 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Kuniyoshi, Y., Cheng, G., Nagakubo, A. (2003). ETL-Humanoid: A Research Vehicle for Open-Ended Action Imitation. In: Jarvis, R.A., Zelinsky, A. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 6. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36460-9_5
Download citation
DOI: https://doi.org/10.1007/3-540-36460-9_5
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-00550-6
Online ISBN: 978-3-540-36460-3
eBook Packages: Springer Book Archive