Constructing of Optimal Database Structure by Imitation Learning based on Evolutionary Algorithm
- Constructing of Optimal Database Structure by Imitation Learning based on Evolutionary Algorithm
- 박가람; 김창환
- Issue Date
- The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
- , 2698-2703
- This paper explores the efficient construction of
the database structure for the human-like arm motion generation
using an evolutionary algorithm-based an imitation
learning in real-time. The framework of the arm motion
generation consists of two processes, imitation learning of
human arm motions and generating of a human-like arm
motion using the motion database evolved by the learning
process in real-time. We aim at constructing the optimized
database structure which have the minimum number of one.
We compare a human-likeness, similarity of a motion and robot
property which minimize a sum of a robot’s joint torques for
three database structure. We applied our method to the task
of teaching a humanoid robot how to make naturally looking
movements like catching the cup on the table.
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- KIST Publication > Conference Paper
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