| dc.contributor.author | Alissandrakis, A. | |
| dc.contributor.author | Nehaniv, C.L. | |
| dc.contributor.author | Dautenhahn, K. | |
| dc.date.accessioned | 2007-10-03T14:37:08Z | |
| dc.date.available | 2007-10-03T14:37:08Z | |
| dc.date.issued | 2006 | |
| dc.identifier.citation | Alissandrakis , A , Nehaniv , C L & Dautenhahn , K 2006 , Action, State and Effect Metrics for Robot Imitation . in In: Procs of the 15th Int Symp on Robot and Human Interactive Communication . Institute of Electrical and Electronics Engineers (IEEE) , pp. 232-237 . https://doi.org/10.1109/ROMAN.2006.314423 | |
| dc.identifier.other | dspace: 2299/828 | |
| dc.identifier.uri | http://hdl.handle.net/2299/828 | |
| dc.description | This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.---- Copyright IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. --Original article can be found at: http://ieeexplore.ieee.org/xpl/RecentCon.jsppunumber=4107768 DOI : 10.1109/ROMAN.2006.314423 | |
| dc.description.abstract | This paper addresses the problem of body mapping in robotic imitation where the demonstrator and imitator may not share the same embodiment (degrees of freedom (DOFs), body morphology, constraints, affordances and so on). Body mappings are formalized using a unified (linear) approach via correspondence matrices, which allow one to capture partial, mirror symmetric, one-to-one, one-to-many, many-to-one and many-to-many associations between various DOFs across dissimilar embodiments. We show how metrics for matching state and action aspects of behaviour can be mathematically determined by such correspondence mappings, which may serve to guide a robotic imitator. The approach is illustrated in a number of examples, using agents described by simple kinematic models and different types of correspondence mappings. Also, focusing on aspects of displacement and orientation of manipulated objects, a selection of metrics are presented, towards a characterization of the space of effect metrics. | en |
| dc.format.extent | 199352 | |
| dc.language.iso | eng | |
| dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | |
| dc.relation.ispartof | In: Procs of the 15th Int Symp on Robot and Human Interactive Communication | |
| dc.title | Action, State and Effect Metrics for Robot Imitation | en |
| dc.contributor.institution | School of Computer Science | |
| dc.contributor.institution | Science & Technology Research Institute | |
| rioxxterms.versionofrecord | 10.1109/ROMAN.2006.314423 | |
| rioxxterms.type | Other | |
| herts.preservation.rarelyaccessed | true | |
