진화 알고리즘을 사용한 인간형 로봇의 동작 모방 학습 및 실시간 동작 생성
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 박가람 | - |
dc.contributor.author | 나성권 | - |
dc.contributor.author | 송재복 | - |
dc.contributor.author | 김창환 | - |
dc.date.accessioned | 2021-09-09T13:38:50Z | - |
dc.date.available | 2021-09-09T13:38:50Z | - |
dc.date.created | 2021-06-17 | - |
dc.date.issued | 2008 | - |
dc.identifier.issn | 1976-5622 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/124667 | - |
dc.description.abstract | This paper presents a framework to generate human-like movements of a humanoid in real time using the movement primitive database of a human. The framework consists of two processes: 1) the offline motion imitation learning based on an Evolutionary Algorithm and 2) the online motion generation of a humanoid using the database updated by the motion imitation learning. For the offline process, the initial database contains the kinetic characteristics of a human, since it is full of human's captured motions. The database then develops through the proposed framework of motion learning based on an Evolutionary Algorithm, having the kinetic characteristics of a humanoid in aspect of minimal torque or joint jerk. The humanoid generates human-like movements for a given purpose in real time by linearly interpolating the primitive motions in the developed database. The movement of catching a ball was examined in simulation. | - |
dc.language | Korean | - |
dc.language.iso | ko | - |
dc.publisher | 제어·로봇·시스템학회 | - |
dc.title | 진화 알고리즘을 사용한 인간형 로봇의 동작 모방 학습 및 실시간 동작 생성 | - |
dc.title.alternative | Motion Imitation Learning and Real-time Movement Generation of Humanoid Using Evolutionary Algorithm | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | 송재복 | - |
dc.identifier.bibliographicCitation | 제어.로봇.시스템학회 논문지, v.14, no.10, pp.1038 - 1046 | - |
dc.relation.isPartOf | 제어.로봇.시스템학회 논문지 | - |
dc.citation.title | 제어.로봇.시스템학회 논문지 | - |
dc.citation.volume | 14 | - |
dc.citation.number | 10 | - |
dc.citation.startPage | 1038 | - |
dc.citation.endPage | 1046 | - |
dc.type.rims | ART | - |
dc.identifier.kciid | ART001281340 | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.subject.keywordAuthor | humanoid | - |
dc.subject.keywordAuthor | evolutionary algorithm | - |
dc.subject.keywordAuthor | imitation learning | - |
dc.subject.keywordAuthor | human-like movement | - |
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