Dexterous skills transfer by extending human body schema to a robotic hand

Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS

Volumn , Issue , 2006, Pages 82-87

  Oztop, Erhan ^a,b   Lin, Li Heng ^b   Kawato, Mitsuo ^a,b   Cheng, Gordon ^a,b  

^a JAPAN SCIENCE AND TECHNOLOGY AGENCY   (Japan)

^b ADVANCED TELECOMMUNICATIONS RESEARCH INSTITUTE INTERNATIONAL   (Japan)

Author keywords

Body schema; Hand control; Skill transfer

Indexed keywords

BRAIN; END EFFECTORS; INTELLIGENT ROBOTS; ROBOTIC ARMS; ROBOTS;

BODY PARTS; BODY SCHEMA; EXTERNAL-; HAND CONTROL; HUMAN BODIES; HUMAN BRAINS; HUMANOID ROBOTS; INTERNATIONAL CONFERENCES; NEURAL REPRESENTATIONS; ROBOTIC HANDS; ROBOTIC PLATFORMS; SKILL TRANSFER;

ROBOTICS;

EID: 48149104094     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICHR.2006.321367     Document Type: Conference Paper

References (20)

1. Iriki, A., M. Tanaka, and Y. Iwamura, Coding of modified body schema during tool use by macaque postcentral neurones. Neuroreport, 1996. 7(14): p. 2325-30.
2. Obayashi, S., et al., Functional brain mapping of monkey tool use. Neuroimage, 2001. 14(4): p. 853-61.
3. Lackner, J.R., Some proprioceptive influences on the perceptual representation of body shape and orientation. Brain, 1988. 111 ( Pt 2): p. 281-97.
4. Atkeson, C.G. and S. Schaal, Memory-based neural networks for robot learning. Neurocomputing, 1995. 9(3): p. 243-269.
5. Gibson, E.J., Principles of perceptual learning and development. 1969, Englewood Cliffs, NJ: Prentice-Hall.
6. Ijspeert, A., J. Nakanishi, and S. Schaal, Learning attractor landscapes for learning motor primitives, in Advances in Neural Information Processing Systems, S. Becker, S. Thrun, and K. Obermayer, Editors. 2003, MIT Press: Cambridge, MA:. p. 1547-1554.
7. Schaal, S., Is imitation learning the route to humanoid robots? Trends Cogn Sei, 1999. 3(6): p. 233-242.
8. Luft, A.R. and M.M. Buitrago, Stages of motor skill learning. Mol Neurobiol, 2005. 32(3): p. 205-16.
9. Brashers-Krug, T., R. Shadmehr, and E. Bizzi, Consolidation in human motor memory. Nature, 1996. 382(6588): p. 252-5.
10. Krakauer, J.W. and R. Shadmehr, Consolidation of motor memory. Trends Neurosci, 2006. 29(1): p. 58-64.
11. Shadmehr, R. and H.H. Holcomb, Neural Correlates of Motor Memory Consolidation. Science, 1997. 277(5327): p. 821-825.
12. Berthouze, L., P. Bakker, and Y. Kuniyoshi. Development of oculo-motor control through robotic imitation, in IEEE/RSJ International Conference on Robotics and Intelligent Systems. 1997. Osaka, Japan.
13. Kuniyoshi, Y., et al. From Visuo-Motor Self Learning to Early Imitation - A Neural Architecture for Humanoid Learning, in International Conference on Robotics & Automation. 2003. Taipei, Taiwan: IEEE.
14. Billard, A. and R. Siegwart, Robot learning from demonstration. Robotics and Autonomous Systems, 2004. 47(2-3): p. 65-67.
15. Billard, A., et al., Discovering optimal imitation strategies. Robotics and Autonomous Systems, 2004. 47(2-3): p. 69-77.
16. Billard, A. and M.J. Mataric, Learning human arm movements by imitation:: Evaluation of a biologically inspired connectionist architecture. Robotics and Autonomous Systems, 2001. 37(2-3): p. 145-160.
17. Breazeal, C. and B. Scassellati, Robots that imitate humans. Trends Cogn Sci, 2002. 6(11): p. 481-487.
18. Demiris, Y. and G. Hayes, Imitation as a dual-route process featuring predictive and learning components: a biologically-plausible computational model, in Imitation in Animals and Artifacts, K. Dautenhahn and C. Nehaniv, Eds. 2002, MIT Press
19. Schaal, S., A. Ijspeert, and A. Billard, Computational approaches to motor learning by imitation. Philosophical Transaction of the Royal Society of London: Series B, Biological Sciences, 2003. 358, 1431: p. 537-547.
20. Atkeson, C.G., et al., Using Humanoid Robots to Study Human Behavior. IEEE Intelligent Systems, 2000. 15(4): p. 46-56.