2009 Fiscal Year Final Research Report
Active learning of motor skills for humanoid robots based on statistical learning methods
| Project/Area Number |
20800030
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| Research Category |
Grant-in-Aid for Young Scientists (Start-up)
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| Allocation Type | Single-year Grants |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Nara Institute of Science and Technology |
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Principal Investigator |
MATSUBARA Takamitsu Nara Institute of Science and Technology, 情報科学研究科, 助教 (20508056)
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| Project Period (FY) |
2008 – 2009
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| Keywords | ヒューマノイドロボット / 運動学習 / 統計学習 / 能動学習 |
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| Research Abstract |
In this research, we developed a novel learning procedure to efficiently learn a compact probabilistic movement primitive models from multiple motion sequences demonstrated by humans. The learned models employ a low dimensional parameter vector which represents the style of motion generated by the model. By modifying the parameter vector, efficient adaptation of the model to unknown environments can be achieved.
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