Kinect / iCub Simulator Joint Mapping

Here is a process to learn the mapping between a human skeleton recognized by kinect and robot/virtual body (here the iCub Simulator).
The imitation is teaching a Multi Modal Convergence Map (neural network) how to predict joint angles of a skeletton based on the configuration of the other.

Category:

Science & Technology

Tags:

• kinect
• robot
• iCub
• HRI
• learning
• neural
• networks

[slallee]

Hum... iCub do have visual/tactile feedback. Not the simulated one of course (well it does have simulated vision also). Anyway, the goal is not object manipulation, it is building the basis for a "mirror system" of the robot.

I do believe that at some point the same mechanism of mirroring loop occurs in child devellopment...

[wlorenz65]

Good enough for teaching the robot how to mov its arms (if nothing is in his way). Cannot be used to teach dancing because iCub's legs are too weak. Cannot be used for object manipulation because resolution is too low and iCub has neither visual nor tactile feedback.