Developmental Human-Robot Imitation Learning of Drawing with a Neuro Dynamical System
Developmental Human-Robot Imitation Learning of Drawing with a Neuro Dynamical System
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DOI：
10.1109/smc.2013.399
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发表时间：
2013-10
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影响因子：
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通讯作者：
Kei Mochizuki;S. Nishide;HIroshi G. Okuno;T. Ogata
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文献类型：
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作者：
Kei Mochizuki;S. Nishide;HIroshi G. Okuno;T. Ogata
本文主要讨论了机器人在绘图方面的发展性学习，并讨论了物理体现对任务的影响。据说，人类的绘画技能的发展经历了五个阶段：1)涂鸦，2)偶然的现实主义，3)失败的现实主义，4)理智的现实主义，5)视觉的现实主义。我们使用神经动力学模型，即多时间尺度递归神经网络（MTRNN），将阶段1)和阶段3)实现到手持笔的人形机器人NAO中。对于阶段1)，我们使用机器人的随机手臂运动作为身体咿呀学语，将运动动力学与笔的位置动力学联系起来。对于阶段3)，我们开发了增量模仿学习，以模仿和发展机器人使用基本形状的绘画技能：圆形，三角形和矩形。我们从实验中证实了两个值得注意的特征。首先，对于咿呀学语时需要手臂运动的形状，画得更好。第二，顺时针画圆的表现从一开始就很好，这是人类发展过程中可以观察到的类似现象。结果表明，该模型有能力创造出与人类发展相关的发展机器人。
This paper mainly deals with robot developmental learning on drawing and discusses the influences of physical embodiment to the task. Humans are said to develop their drawing skills through five phases: 1) Scribbling, 2) Fortuitous Realism, 3) Failed Realism, 4) Intellectual Realism, 5) Visual Realism. We implement phases 1) and 3) into the humanoid robot NAO, holding a pen, using a neuro dynamical model, namely Multiple Timescales Recurrent Neural Network (MTRNN). For phase 1), we used random arm motion of the robot as body babbling to associate motor dynamics with pen position dynamics. For phase 3), we developed incremental imitation learning to imitate and develop the robot's drawing skill using basic shapes: circle, triangle, and rectangle. We confirmed two notable features from the experiment. First, the drawing was better performed for shapes requiring arm motions used in babbling. Second, performance of clockwise drawing of circle was good from beginning, which is a similar phenomenon that can be observed in human development. The results imply the capability of the model to create a developmental robot relating to human development.