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On the Representation, Learning and Transfer of Spatio-Temporal Movement Characteristics

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Ilg,  W
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Bakir,  GH
Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Giese,  MA
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Citation

Ilg, W., Bakir, G., Mezger, J., & Giese, M. (2003). On the Representation, Learning and Transfer of Spatio-Temporal Movement Characteristics. In Humanoids Proceedings (pp. 0-0).


Cite as: http://hdl.handle.net/11858/00-001M-0000-0013-DC27-C
Abstract
In this paper we present a learning-based approach for the modelling of complex movement sequences. Based on the method of Spatio-Temporal Morphable Models (STMMS. We derive a hierarchical algorithm that, in a first step, identifies automatically movement elements in movement sequences based on a coarse spatio-temporal description, and in a second step models these movement primitives by approximation through linear combinations of learned example movement trajectories. We describe the different steps of the algorithm and show how it can be applied for modelling and synthesis of complex sequences of human movements that contain movement elements with variable style. The proposed method is demonstrated on different applications of movement representation relevant for imitation learning of movement styles in humanoid robotics.