Kicking Motion Imitation of Inverted-Pendulum Mobile Robot and Development of Body Mapping from Human Demonstrator

摘要

This paper proposes a new method for learning the dynamic motion of an inverted-pendulum mobile robot from the observation of a human player’s demonstration. First, an inverted-pendulum mobile robot with upper and lower body links observes the human demonstration with a camera and extracts the human region in images. Second, the robot maps the region to its own two links and estimates link posture trajectories. The robot starts learning kicking based on the trajectory parameters for imitation. Through this process, our robot can learn dynamic kicking shown by a human. The mapping parameter gives an important role for successive imitation. A reasonable and feasible procedure of learning from observation for an inverted-pendulum robot is proposed. Learning performance from observation is investigated, then, the development of body mapping is proposed and investigated.