Dynamic Motion Imitation of Inverted-Pendulum Mobile Robot in Human Symbiotic Environment

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This research aims to realize imitation of dynamic motion that a human player shows in sports by an inverted-pendulum mobile robot in a human symbiotic environment. An inverted-pendulum mobile robot observes human demonstration with a video camera or a simple motion capture system and estimates the posture of each human links. It maps the links to its own two links and estimates link posture trajectories during the motion. The robot starts learning kicking to fit the motion to itself for the imitation. Learning performance from observation is investigated with computational simulations.