TY - GEN
T1 - Action, State and Effect Metrics for Robot Imitation
AU - Alissandrakis, A.
AU - Nehaniv, C.L.
AU - Dautenhahn, K.
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PY - 2006
Y1 - 2006
N2 - This paper addresses the problem of body mapping in robotic imitation where the demonstrator and imitator may not share the same embodiment (degrees of freedom (DOFs), body morphology, constraints, affordances and so on). Body mappings are formalized using a unified (linear) approach via correspondence matrices, which allow one to capture partial, mirror symmetric, one-to-one, one-to-many, many-to-one and many-to-many associations between various DOFs across dissimilar embodiments. We show how metrics for matching state and action aspects of behaviour can be mathematically determined by such correspondence mappings, which may serve to guide a robotic imitator. The approach is illustrated in a number of examples, using agents described by simple kinematic models and different types of correspondence mappings. Also, focusing on aspects of displacement and orientation of manipulated objects, a selection of metrics are presented, towards a characterization of the space of effect metrics.
AB - This paper addresses the problem of body mapping in robotic imitation where the demonstrator and imitator may not share the same embodiment (degrees of freedom (DOFs), body morphology, constraints, affordances and so on). Body mappings are formalized using a unified (linear) approach via correspondence matrices, which allow one to capture partial, mirror symmetric, one-to-one, one-to-many, many-to-one and many-to-many associations between various DOFs across dissimilar embodiments. We show how metrics for matching state and action aspects of behaviour can be mathematically determined by such correspondence mappings, which may serve to guide a robotic imitator. The approach is illustrated in a number of examples, using agents described by simple kinematic models and different types of correspondence mappings. Also, focusing on aspects of displacement and orientation of manipulated objects, a selection of metrics are presented, towards a characterization of the space of effect metrics.
U2 - 10.1109/ROMAN.2006.314423
DO - 10.1109/ROMAN.2006.314423
M3 - Conference contribution
SP - 232
EP - 237
BT - In: Procs of the 15th Int Symp on Robot and Human Interactive Communication
PB - Institute of Electrical and Electronics Engineers (IEEE)
ER -