Please use this identifier to cite or link to this item: http://dspace.uniten.edu.my:8080/jspui/handle/123456789/83
Title: Behavior recognition for humanoid robots using long short term memory
Authors: Dickson Neoh Tze How 
Keywords: Neural network
Behavior recognition
Issue Date: Oct-2016
Journal: International journal of advanced robotic systems 
Abstract: Learning from demonstration plays an important role in enabling robot to acquire new behaviors from human teachers. Within learning from demonstration, robots learn new tasks by recognizing a set of preprogrammed behaviors or skills as building blocks for new, potentially more complex tasks. One important aspect in this approach is the recognition of the set of behaviors that comprises the entire task. The ability to recognize a complex task as a sequence of simple behaviors enables the robot to generalize better on more complex tasks. In this article, we propose that primitive behaviors can be taught to a robot via learning from demonstration. In our experiment, we teach the robot new behaviors by demonstrating the behaviors to the robot several times. Following that, a long short-term memory recurrent neural network is trained to recognize the behaviors. In this study, we managed to teach at least six behaviors on a NAO humanoid robot and trained a long short-term memory recurrent neural network to recognize the behaviors using the supervised learning scheme. Our result shows that long short-term memory can recognize all the taught behaviors effectively, and it is able to generalize to recognize similar types of behaviors that have not been demonstrated on the robot before. We also show that the long short-term memory is advantageous compared to other neural network frameworks in recognizing the behaviors in the presence of noise in the behaviors
Description: Volume :13, Issue No :6, Article ID :doi:10.1177/1729881416663369, Page Start :1, Page End :14, ISSN :1729-8814
URI: http://dspace.uniten.edu.my:8080/jspui/handle/123456789/83
Appears in Collections:COE Scholarly Publication

Files in This Item:
File Description SizeFormat 
behavior_recognition_lstm.pdf1.35 MBAdobe PDFView/Open    Request a copy
Show full item record

Google ScholarTM

Check


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.