Investigation of Preliminary Motions from a Static State and Their Predictability
Chaoshun Xu, Masahiro Fujiwara, Yasutoshi Makino, Hiroyuki Shinoda, JST PRESTO 7 Gobancho, Chiyoda-ku, Tokyo 102-0076, Japan · Journal of Robotics and Mechatronics · 2021
Humans observe the actions of others and predict their movements slightly ahead of time in everyday life. Many studies have been conducted to automate such a prediction ability computationally using neural networks; however, they implicitly assumed that preliminary motions occurred before significant movements. In this study, we quantitatively investigate when and how long a preliminary motion appears in motions from static states and what kinds of motion can be predicted in principle. We consider this knowledge fundamental for movement prediction in interaction techniques. We examined preliminary motions of basic movements such as kicking and jumping, and confirmed the presence of preliminary motions by using them as inputs to a neural network. As a result, although we did not find preliminary motion for a hand-moving task, a left-right jumping task had the most preliminary motion, up to 0.4 s before the main movement.