Primitive-Based Movement Classification for Humanoid Imitation
Odest Chadwicke Jenkins, Maja J. Matarić, Stefan Weber · 2000
. Motor control is a complex problem and imitation is a powerful mechanism for acquiring new motor skills. In this paper, we describe perceptuo-motor primitives, a biologically-inspired notion for a basis set of perceptual and motor routines. Primitives serve as a vocabulary for classifying and imitating observed human movements, and are derived from the imitator's motor repertoire. We describe a model of imitation based on such primitives and demonstrate the feasibility of the model in a constrained implementation. We present approximate motion reconstruction generated from visually captured data of typically imitated tasks taken from aerobics, dancing, and athletics. 1 Introduction Imitation is a powerful mechanism for acquiring new skills. It involves an intricate interaction between perceptual and motor mechanisms, both of which are complex in themselves. Research into vision and motor control has explored the role of "subroutines", schemas [1], and other variants based on ...