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JRM Vol.26 No.1 pp. 51-58
doi: 10.20965/jrm.2014.p0051
(2014)

Paper:

Reconstruction of Human Skills by Using PCA and Transferring them to a Robot

Masahiro Takeuchi*, Jun Shimodaira**, Yuki Amaoka**,
Shinsuke Hamatani**, Hiroaki Hirai**, and Fumio Miyazaki**

*Akashi National College of Technology, 679-3 Nishioka, Uozumi-cho, Skashi-shi, Hyogo 674-8501, Japan

**Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama-cho, Toyonaka-shi, Osaka 560-8531, Japan

Received:
May 19, 2013
Accepted:
September 6, 2013
Published:
February 20, 2014
Keywords:
generalized motor program, principal component analysis, human skill transfer
Abstract

This paper discusses human skills enabling rapid adaptation to a changing environment, e.g., when a human table tennis player hits an incoming ball, and describes how to transfer these skills to a robot. Human skills are classified into motor and cognitive. Motor skills are functions involving precise limb movement with the intent to perform a specific act, i.e., hitting a ball. Cognitive skills are functions involving meaningful responses to external stimuli. We extract these skills from observing human movement using principal component analysis and generalize these skills as a schema for a generalized motor program. We also describe table tennis matches between a human opponent and a robot to which these skills have been transferred.

Cite this article as:
M. Takeuchi, J. Shimodaira, Y. Amaoka, <. Hamatani, H. Hirai, and F. Miyazaki, “Reconstruction of Human Skills by Using PCA and Transferring them to a Robot,” J. Robot. Mechatron., Vol.26, No.1, pp. 51-58, 2014.
Data files:
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Last updated on Oct. 22, 2018