The concept of Object-Action Complexes (OACs) has been introduced by the European PACO-PLUS consortium ( [8]) to emphasize the notion that for a cognitive agent objects and actions are inseparably intertwined and that categories are therefore determined (and also limited) by the action an agent can perform and by the attributes of the world it can perceive. The resulting OACs are the entities on which cognition develops (action-centered cognition). Entities (things) in the world of a robot (or human) will only become semantically useful objects through the action that the agent can/will perform on them.
In this work we present a new humanoid active head which features human-like characteristics in motion and response and mimics the human visual system. We present algorithms that can be applied to perceive objects and movements, which form the basis for learning actions on the humanoid. For action representation we use an HMM-based approach to reproduce the observed movements and build an action library. Hidden Markov Models (HMM) are used to represent movements demonstrated to a robot multiple times. They are trained with the characteristic features (key points) of each demonstration. We propose strategies for adaptation of movements to the given situation and for the interpolation between movements stored in a movement library.
Access provided by Autonomous University of Puebla. Download to read the full chapter text
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
Akachi, K., Kaneko, K., Kanehira, N., Ota, S., Miyamori, G., Hirata, M., Kajita, S., Kanehiro, F.: Development of humanoid robot HRP-3. In: IEEE/RAS International Conference on Humanoid Robots (2005)
Asfour, T., Gyarfas, F., Azad, P., Dillmann, R.: Imitation learning of dual-arm manipulation tasks in humanoid robots. In: IEEE-RAS International Conference on Humanoid Robots (Humanoids 2006). Genoa, Italy (2006)
Asfour, T., Regenstein, K., Azad, P., Schr öder, J., Bierbaum, A., Vahrenkamp, N., Dillmann, R.: ARMAR-III: An integrated humanoid platform for sensory-motor control. In: IEEE-RAS International Conference on Humanoid Robots (Humanoids 2006). Genoa, Italy (2006)
Atkeson, C.G., Moore, A., Schaal, S.: Locally weighted learning. AI Review 11, 11-73 (1997)
Azad, P., Ude, A., Asfour, T., Cheng, G., Dillmann, R.: Image-based Markerless 3D Human Motion Capture using Multiple Cues. In: International Workshop on Vision Based HumanRobot Interaction. Palermo, Italy (2006)
Azad, P., Ude, A., Dillmann, R., Cheng, G.: A Full Body Human Motion Capture System using Particle Filtering and On-The-Fly Edge Detection. In: International Conference on Humanoid Robots (Humanoids). Santa Monica, USA (2004)
Cheng, G., Hyon, S., Morimoto, J., Ude, A., Jacobsen, S.: CB: a humanoid research platform for exploring neuroscience. In: IEEE-RAS International Conference on Humanoid Robots (Humanoids 2006). Genoa, Italy (2006)
The PACO-PLUS project: Perception, Action and Cognition through Learning of ObjectAction Complexes. European Cognitive Systems project, www.paco-plus.org.
Gibson, J.: The ecological approach to visual perception. Houghton Mifflin, Boston (1979)
Hersch, M., Billard, A.: A biologically-inspired model of reaching movements. In: IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (2006)
I.W. Park J.Y. Kim, J.L., Oh, J.: Mechanical design of humanoid robot platform KHR-3 (kaist humanoid robot-3: Hubo). In: IEEE/RAS International Conference on Humanoid Robots (2005)
Nishiwaki, K., Sugihara, T., Kagami, S., Kanehiro, F., Inaba, M., Inoue, H.: Design and development of research platform for perception-action integration in humanoid robots: H6. In: IEEE/RSJ International. Conference on Intelligent Robots and Systems, pp. 1559-1564 (2000)
Rose, C., Bodenheimer, B., Cohen, M.F.: Verbs and adverbs: Multidimensional motion interpolation using radial basis functions. IEEE Computer Graphics and Applications 18(5) (1998)
Sakagami, S., Watanabe, T., Aoyama, C., Matsunage, S., Higaki, N., Fujimura, K.: The intelligent ASIMO: System overview and integration. In: IEEE/RSJ International. Conference on Intelligent Robots and Systems, pp. 2478-2483 (2002)
Ude, A., Atkeson, C.G., Riley, M.: Programming full-body movements for humanoid robots by observation. Robotics and Autonomous Systems 47(2-3), 93-108 (2004)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2008 Springer Science+Business Media, LLC
About this chapter
Cite this chapter
Asfour, T., Welke, K., Ude, A., Azad, P., Dillmann, R. (2008). Perceiving Objects and Movements to Generate Actions on a Humanoid Robot. In: Kragic, D., Kyrki, V. (eds) Unifying Perspectives in Computational and Robot Vision. Lecture Notes in Electrical Engineering, vol 8. Springer, Boston, MA. https://doi.org/10.1007/978-0-387-75523-6_4
Download citation
DOI: https://doi.org/10.1007/978-0-387-75523-6_4
Publisher Name: Springer, Boston, MA
Print ISBN: 978-0-387-75521-2
Online ISBN: 978-0-387-75523-6
eBook Packages: Computer ScienceComputer Science (R0)