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JRM Vol.33 No.3 pp. 537-546
doi: 10.20965/jrm.2021.p0537
(2021)

Paper:

Investigation of Preliminary Motions from a Static State and Their Predictability

Chaoshun Xu*, Masahiro Fujiwara**, Yasutoshi Makino**,***, and Hiroyuki Shinoda**

*Graduate School of Information Science and Technology, The University of Tokyo
7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

**Graduate School of Frontier Sciences, The University of Tokyo
5-1-5 Kashiwanoha, Kashiwa-shi, Chiba 277-8561, Japan

***JST PRESTO
7 Gobancho, Chiyoda-ku, Tokyo 102-0076, Japan

Received:
December 22, 2020
Accepted:
March 30, 2021
Published:
June 20, 2021
Keywords:
motion capture, movement prediction, machine learning, robots in society
Abstract
Investigation of Preliminary Motions from a Static State and Their Predictability

Type of movements measured in the paper

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.

Cite this article as:
Chaoshun Xu, Masahiro Fujiwara, Yasutoshi Makino, and Hiroyuki Shinoda, “Investigation of Preliminary Motions from a Static State and Their Predictability,” J. Robot. Mechatron., Vol.33, No.3, pp. 537-546, 2021.
Data files:
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Last updated on Nov. 25, 2021