Generating Association-Based Motion through Human-Robot Interaction

Authors:
Satona Motomura;Shohei Kato;Hidenori Itoh
Affiliations:
Dept. of Computer Science and Engineering, Graduate School of Engineering, Nagoya Institute of Technology, Nagoya, Japan 466-8555;Dept. of Computer Science and Engineering, Graduate School of Engineering, Nagoya Institute of Technology, Nagoya, Japan 466-8555;Dept. of Computer Science and Engineering, Graduate School of Engineering, Nagoya Institute of Technology, Nagoya, Japan 466-8555
Venue:
PRIMA '09 Proceedings of the 12th International Conference on Principles of Practice in Multi-Agent Systems
Year:
2009

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Abstract

A method of generating new motions associatively from novel trajectories that the robot receives is described. The associative motion generation system is composed of two neural networks: nonlinear principal component analysis (NLPCA) and Jordan recurrent neural network (JRNN). First, these networks learn the relationship between a trajectory and a motion using training data. Second, associative values are extracted for associating a new corresponding motion from a new trajectory using NLPCA. Finally, a new motion is generated through calculation by JRNN using the associative values. Experimental results demonstrated that our method enabled a humanoid robot, KHR-2HV, to associatively generate the new motions corresponding to trajectories that the robot had not learned.