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Communication Dans Un Congrès Année : 2010

A Computational Model for Synchronous Motion Imitation by Humans: The Mirror Controller Applied on Stepping Motions

Résumé

We propose a new computational model describing the motion imitation by humans, and which parallels the direct matching hypothesis in Neuroscience. To illustrate our computational model, we present a scheme where a robot imitates another robot achieving stepping motions on horizontal plane. The idea is to map an observed action onto the robot's motor representation of the same action: the motion controller. We propose a simple state observed based implementation of this approach. Simulation results, where a HRP-2 robot tries to imitate another HRP-2 robot, show that imitation can be realized with virtually no delay, in perfect synchrony.
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Dates et versions

inria-00567736 , version 1 (21-02-2011)

Identifiants

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Mehdi Benallègue, Pierre-Brice Wieber, Abderrahmane Kheddar, Bernard Espiau. A Computational Model for Synchronous Motion Imitation by Humans: The Mirror Controller Applied on Stepping Motions. Humanoids, Dec 2010, Nashville, TN, United States. pp.322-327, ⟨10.1109/ICHR.2010.5686304⟩. ⟨inria-00567736⟩
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