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

Mehdi Benallègue 1 Pierre-Brice Wieber 1 Abderrahmane Kheddar 2, 3, * Bernard Espiau 4
* Auteur correspondant
1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : 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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Communication dans un congrès
Humanoids, Dec 2010, Nashville, TN, United States. 10th IEEE-RAS International Conference on Humanoid Robots, pp.322-327, 2010, 〈10.1109/ICHR.2010.5686304〉
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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. 10th IEEE-RAS International Conference on Humanoid Robots, pp.322-327, 2010, 〈10.1109/ICHR.2010.5686304〉. 〈inria-00567736〉

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