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We describe a method of generating new motions associatively from unfamiliar indications. The associative motion generation system is composed of two neural networks: nonlinear principal component analysis (NLPCA) and Jordan recurrent neural network (JRNN). First, the system learns the correspondence relationship between an indication and a motion using training data. Second, associative values are extracted for associating a new motion from an unfamiliar indication using NLPCA. Last, the robot generates a new motion through calculation by JRNN using the associative values. Experimental results demonstrated that our method enabled a humanoid robot, KHR-2HV, to associatively generate some kinds of motion depending on given unfamiliar indications.
Date of Conference: 9-11 Nov. 2009