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Interactive trajectory generation using evolutionary programming for a partner robot

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4 Author(s)
Kubota, N. ; Dept. of Human & Artificial Intelligent Syst., Fukui Univ., Japan ; Nojima, Yusuke ; Sulistijono, I.A. ; Kojima, F.

This paper proposes an integrated method for generating a human-friendly trajectory. First of all, the robot detects the position of the facing human, and then, the robot generates the trajectory realizing a hand-to-hand behavior by using evolutionary programming. Basically, human evaluation is very important for generating robotic behavior, but the structure of human evaluation is not clear beforehand. Therefore, a fuzzy state-value function is used for estimating the structure of human evaluation. We apply a profit sharing plan using the human evaluation to update the fuzzy state-value function. Furthermore, we propose a temperature scheduling method of a Boltzmann selection dependent on the time-series of human evaluation in the interactive evolutionary programming. Several experimental results show the proposed method can generate a human-friendly trajectory with few human evaluation times.

Published in:

Robot and Human Interactive Communication, 2003. Proceedings. ROMAN 2003. The 12th IEEE International Workshop on

Date of Conference:

31 Oct.-2 Nov. 2003