Insertion of pause in drawing from babbling for robot's developmental imitation learning

@article{Nishide2014InsertionOP,
  title={Insertion of pause in drawing from babbling for robot's developmental imitation learning},
  author={Shun Nishide and Keita Mochizuki and Hiroshi G. Okuno and Tetsuya Ogata},
  journal={2014 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2014},
  pages={4785-4791}
}
In this paper, we present a method to improve a robot's imitation performance in a drawing scenario by inserting pauses in motion. Human's drawing skills are said to develop through five stages: 1) Scribbling, 2) Fortuitous Realism, 3) Failed Realism, 4) Intellectual Realism, and 5) Visual Realism. We focus on stages 1) and 3) for creating our system, each corresponding to body babbling and imitation learning, respectively. For stage 1), the robot randomly moves its arm to associate robot's arm… CONTINUE READING

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