Inverse Kinematics of Humanoid-Robot Reaching through Human Visuo-Motor Learning

To achieve human-like motion of the humanoid robots we propose an approach for robot skill-synthesis that exploits human visuo-motor learning capacity. The conceptual idea is to consider the target robot platform as a tool that can be intuitively controlled by a human. Once the robot is effortlessly controlled, the target behaviour of the robot is obtained by the human through practice. Subsequently we build the appropriate mapping between the human and the humanoid robot that is used for autonomous control of the humanoid robot. We demonstrate this idea by presenting humanoid-robot reaching obtained with the proposed approach.