Synthesized articulated behavior using space-temporal on-line principal component analysis

Abstract

This paper presents a new framework to synthesize humanoid behavior by learning and imitating the behavior of an articulated body using motion capture. The video-based motion capturing method has been developed mainly for analysis of human movement, but is very rarely used to teach or imitate the behavior of an articulated body to a virtual agent in an on-line manner. Using our proposed applications, new behaviors of one agent can be simultaneously analyzed and used to train or imitate another with a novel visual learning methodology. In the on-line learning phase, we propose a new way of synthesizing humanoid behavior based on on-line learning of principal component analysis (PCA) bases of the behavior. Although there are many existing studies which utilize PCA for object/behavior representation, this paper introduces two criteria to determine if the dimension of the subspace is to be expanded or not and applies a Fisher criterion to synthesize new behaviors. The proposed methodology is well-matched to both behavioral training and synthesis, since it is automatically carried out as an on-line long-term learning of humanoid behaviors without the overhead of an expanding learning space. The final outcome of these methodologies is to synthesize multiple humanoid behaviors for the generation of arbitrary behaviors. The experimental results using a humanoid figure and a virtual robot demonstrate the feasibility and merits of this method.

Keywords:

• IMITATIVE ROBOT
• ARTICULATED BEHAVIOR SYNTHESIS
• VISUAL MOTION CAPTURE SYSTEM
• LEARNING FROM OBSERVATION
• HUMAN BEHAVIOR MODEL