Three sources of information in social learning
Imitation in animals and artifacts
Learning forward models for robots
IJCAI'05 Proceedings of the 19th international joint conference on Artificial intelligence
Conceptual Imitation Learning in a Human-Robot Interaction Paradigm
ACM Transactions on Intelligent Systems and Technology (TIST)
Robotics and Autonomous Systems
Common sensorimotor representation for self-initiated imitation learning
IEA/AIE'12 Proceedings of the 25th international conference on Industrial Engineering and Other Applications of Applied Intelligent Systems: advanced research in applied artificial intelligence
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Most of the Central Pattern Generator (CPG) models are based on defining explicit dynamical systems and finding the appropriate parameters. In this paper, we propose a novel CPG model that is based on altering a nonlinear oscillator to obtain desired limit cycle behavior. This CPG model benefits from an explicit basin of attraction and also fast convergence behavior. The presented CPG model is used in an imitation model that tries to learn the proper periodical behavior by looking at a mentor. First, a mentor performs the desired periodical behavior. Then, a hand-eye coordination process, inspired from infant babbling, is initiated to extract proper motor actions from what is observed. The extracted motor actions are finally embedded into the CPG model for smooth reproduction. This imitation model is implemented on a robotic marionette behavior learning task. The outcome of the final performance of the robotic marionette is behaviorally understandable smooth actions.