Stochastic gesture production and recognition model for a humanoid robot

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Volumn 3, Issue , 2004, Pages 2769-2774

  Calinon, Sylvain ^a   Billard, Aude ^a  

^a EPFL   (Switzerland)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL EQUIPMENT; DATA ACQUISITION; GESTURE RECOGNITION; KINEMATICS; LEARNING SYSTEMS; MARKOV PROCESSES; MATHEMATICAL MODELS; RANDOM PROCESSES; SENSORS; SIGNAL PROCESSING; TOPOLOGY; TRAJECTORIES;

HIDDEN MARKOV MODELS (HMM); HUMANOID ROBOTS; ROBOT PROGRAMMING BY DEMONSTRATION (PBD); STOCHASTIC GESTURE PRODUCTION;

PROGRAMMABLE ROBOTS;

EID: 14044252218     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (22)

1. A. Billard, Y. Epars, S. Calinon, G. Cheng, and S. Schaal, "Discovering optimal imitation strategies," Robotics and Autonomous Systems, vol. 47:2-3, 2004.
2. S. Schaal, "Is imitation learning the route to humanoid robots?" Trends in Cognitive Sciences, vol. 3(6), pp. 233-242, 1999.
3. C. Nehaniv and K. Dautenhahn, "Of hummingbirds and helicopters: An algebraic framework for interdisciplinary studies of imitation and its applications," in Learning Robots: An Interdisciplinary Approach, J. Demiris and A. Birk, Eds. World Scientific Press, 1999.
4. J. Nakanishi, J. Morimoto, G. Endo, G. Cheng, S. Schaal, and M. Kawato, "Learning from demonstration and adaptation of biped locomotion," Robotics and Autonomous Systems, vol. 47:2-3, 2004.
5. A. Ude, C. Atkeson, and M. Riley, "Programming full-body movements for humanoid robots by observation," Robotics and Autonomous Systems, vol. 47:2-3, 2004.
6. E. Drumwright and M. Mataric, "Generating and recognizing free-space movements in humanoid robots," in Proceedings of the IEEE/RSJ Intl Conference on Intelligent Robots and Systems, 2003.
7. A. Ijspeert, J. Nakanishi, and S. Schaal, "Movement imitation with nonlinear dynamical systems in humanoid robots," in Proceedings of the IEEE Intl Conference on Robotics and Automation, 2002.
8. M. Okada, K. Tatani, and Y. Nakamura, "Polynomial design of the nonlinear dynamics for the brain-like information processing of whole body motion," in Proceedings of the IEEE Intl Conference on Robotics and Automation, 2002.
9. A. Billard and S. Schaal, "A connectionist model for on-line learning by imitation," in Proceedings of the IEEE/RSJ Int. Conference on Intelligent Robots and Systems, hawaii, 2001.
10. S. Murakami and M. Morita, "Top-down and bottom-up processing of spatiotemporal patterns in a fully recurrent network of non-monotonic neurons," in Proceedings of the 1999 Intl Conference on Neural Information Processing, 1999.
11. L. Rabiner, "A tutorial on hidden markov models and selected applications in speech recognition," Proceedings of the IEEE, vol. 77:2, pp. 257-285, February 1989.
12. M. Gilloux, "Hidden markov models in handwriting recognition," in Fundamentals in Handwriting Recognition, S. Impedovo, Ed. Berlin, Heidelberg: Springer, 1994.
13. T. Starner and A. Weaver, J. and Pentland, "Real-time american sign language recognition using desk and wearable computer based video," IEEE Trans. on Pattern Analysis and Machine Intelligence, 1998.
14. C. Lee and Y. Xu, "Online, interactive learning of gestures for human/robot interfaces," in IEEE Intl Conference on Robotics and Automation, 1996.
15. Y. Nam and K. Wohn, "Recognition of space-time hand-gestures using hidden markov model," in ACM symposium on Virtual reality software and technology, 1996.
16. H. Bourlard and S. Bengio, "Hidden markov models and other finite state automata for sequence processing," in The Handbook of Brain Theory and Neural Networks, Second Edition, M. A. Arbib, Ed. The MIT Press, 2002.
17. M. Brand and A. Hertzmann, "Style machines," in Siggraph 2000, Computer Graphics Proceedings, K. Akeley, Ed. ACM Press / ACM SIGGRAPH / Addison Wesley Longman, 2000.
18. T. Inamura, H. Tanie, and Y. Nakamura, "Keyframe compression and decompression for time series data based on continuous hidden markov models," in Proceedings of the IEEE/RSJ Intl Conference on Intelligent Robots and Systems, 2003.
19. A. Billard, S. Schaal, and J. Gordon, "Imitation of coordinated arm movements," Experimental Brain Research, 2002.
20. M. Popovic and D. Popovic, "Cloning biological synergies improves control of elbow neuroprostheses," IEEE Engineering in Medicine and Biology Magazine, 2001.
21. R. Dillmann, "Teaching and learning of robot tasks via observation of human performance," Robotics and Autonomous Systems, 2004.
22. I.-C. Kim and S.-I. Chien, "Analysis of 3d hand trajectory gestures using stroke-based composite hidden markov models," Applied Intelligence, 2001.