Inverted-pendulum Mobile Robot Motion Learning from Human Player Observation
Inverted-pendulum Mobile Robot Motion Learning from Human Player Observation
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DOI：
10.14864/softscis.2010.0.211.0
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
S. Takahashi;Hiroaki Nonoshita;Yasutake Takahashi;Y. Maeda;Takayuki Nakamura
中科院分区：
文献类型：
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作者：
S. Takahashi;Hiroaki Nonoshita;Yasutake Takahashi;Y. Maeda;Takayuki Nakamura
本文展示了一个倒立摆移动的机器人学习动态运动从观察人类球员的演示。机器人有躯干和身体链接，并学习踢球。在学习之前，机器人用相机观察人类演示，提取图像上的人类链接，估计链接姿势轨迹，并开始跟随它们进行踢动作学习。提出并研究了一种合理可行的倒立摆机器人从观测中学习的方法。
This paper shows an inverted-pendulum mobile robot learns dynamic motion from observation of human player’s demonstration. The robot has torso and body links and learns ball kicking. Before learning, the robot observes human demonstration with a camera, extracts human links on the images, estimates link posture trajectories, and starts kicking motion learning following them. A reasonable and feasible procedure of learning from observation for an inverted-pendulum robot is proposed and investigated in this paper.