Paper Info
Title
Emergent imitative behavior on a robotic arm based on visuo-motor associative memories.
Abstract
Mimicry and deferred imitation have often been considered as separate kinds of imitation. In this paper, we present a simple architecture for robotic arm control which can be used for both. The model is based on some dynamical equations [1], which provide a motor control with exploring and converging capacities. A visuo-motor map [2] is used to associate positions of the end effector in the visual space with proprioceptive position of the robotic arm. It enables a fast learning of the visuo-motor associations without needing to embed a priori information. The controller can be used both for accurate control and interaction.It has been implemented on a minimal robotic setup showing some interesting emergent properties. The robot can reproduce simple gestures in mimicry situation and finalized actions in deferred imitation situation. Moreover, it can even show some "intention" recognition abilities. Finally, the experiment of deferred imitation which inherits from learning by demonstration, also provides a good basis for cooperative and interactive experiments.
Year
DOI
Venue
2010
10.1109/IROS.2010.5651090
IROS
Keywords
Field
DocType
content-addressable storage,dexterous manipulators,end effectors,learning (artificial intelligence),robot vision,associative memory,dynamical equations,end effector,mimicry situation,motor control,robotic arm control,visuo motor map
Computer vision,Robotic arm,Control theory,Content-addressable memory,Computer science,Gesture,Cognitive imitation,Motor control,Robot end effector,Artificial intelligence,Imitation
Conference
ISSN
Citations 
PageRank 
2153-0858
5
0.52
References 
Authors
0
4
Name
Order
Citations
PageRank
Antoine de Rengervé161.30
Sofiane Boucenna213811.16
Pierre Andry312916.33
Philippe Gaussier441458.53