[1]YU Jianjun,MEN Yusen,RUAN Xiaogang,et al.The research and implementation of behavior imitation system about Nao robot based on Kinect[J].CAAI Transactions on Intelligent Systems,2016,11(2):180-187.[doi:10.11992/tis.201511020]
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The research and implementation of behavior imitation system about Nao robot based on Kinect

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 11 Number of periods: 2016 2 Page number: 180-187 Column: 学术论文—智能系统 Public date: 2016-04-25
Title:
The research and implementation of behavior imitation system about Nao robot based on Kinect
Author(s):
YU Jianjun;  MEN Yusen;  RUAN Xiaogang;  ZHAO Shaoqiong
College of Electronic and Control Engineering,Beijing University of Technology, Beijing 100124, China
Keywords:
imitation learning; robot control; somatosensory perception; probability model; GMM; GMR
CLC:
TP242.6
DOI:
10.11992/tis.201511020
Abstract:
To avoid the complexity of the underlying motor control, make the robot realize motor skills through learning and improve its intelligence, Combining Somatosensory perception with humanoid robot Nao,this paper focuses on the research of robot imitation learning,constructs the behavior imitation system and implements Nao robot’s motion imitation using kinect based on the framework of imitation learning.By means of the skeleton tracking technology of motion-sensing camera,the bone point information is collected,then be pre-processed into demonstration data.The demonstration data is encoded for representative learning through Gaussian mixture model (GMM),and then the output generalized by Gaussian mixture regression (GMR) is mapped to Nao robot to realize the imitation of action.The experiment results indicate that Nao robot is able to implement behavior imitation in real-time and offline mode and gives good effect owing to the fact that the motion trajectory is smooth and stable.
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