Acquiring Motion Elements for Bidirectional Computation of Motion Recognition and Generation

Mimesis theory is one of the primitive skill of imitative learning, which is regarded as an origin of human intelligence because imitation is fundamental function for communication and symbol manipulation. When the mimesis is adopted as learning method for humanoids, convenience for designing full body behavior would decrease because bottom-up learning approaches from robot side and topdown teaching approaches from user side involved each other. Therefore, we propose a behavior acquisition and understanding system for humanoids based on the mimesis theory. This system is able to abstract observed others’ behaviors into symbols, to recognize others’ behavior using the symbols, and to generate motion patterns using the symbols. In this paper, we mention the integration of mimesis loop, and confirmation of the feasibility on virtual humanoids.