What do you expect from a robot that tells your future? The crystal ball

Wataru Takano, Hirotaka Imagawa, Dana Kulić, Yoshihiko Nakamura

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

9 Citations (Scopus)

Abstract

This paper proposes an approach to hierarchy formation of human behaviors, extraction of the behavioral transitions, and their application to prediction and automatic generation of behaviors. Human demonstrator motion patterns are stored as motion symbols, which abstract the motion data by using Hidden Markov Models. The stored motion patterns are organized into a hierarchical tree structure, which represents the similarity among the motion patterns and provides abstracted motion patterns. Concatenated sequences of motion patterns are stochastically represented as transitions between the abstracted motion patterns by using an Ngram Model, and the transitional relationships of the human behaviors are extracted. The behavioral hierarchy and transition model make it possible to predict human behaviors during observation and to generate sequences of motion patterns automatically while maintaining a natural motion stream, as if the system is a "crystal ball" to reflect future behaviors. The experiments validates the proposed framework by using a developed visualization system, which shows the demonstrator or the operator the established hierarchical tree and the transition network of the motion patterns, predicted behaviors and generated sequences of the motion patterns.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages1780-1785
Number of pages6
ISBN (Print)9781424466757
DOIs
Publication statusPublished - 1 Dec 2010
Externally publishedYes
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan
Duration: 18 Oct 201022 Oct 2010

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Conference

Conference23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan
CityTaipei
Period18/10/1022/10/10

Cite this

Takano, W., Imagawa, H., Kulić, D., & Nakamura, Y. (2010). What do you expect from a robot that tells your future? The crystal ball. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 1780-1785). [5650682] (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/IROS.2010.5650682