DYNA JOURNAL ENGINEERING

Key words:

Aprendizaje por demostración, imitación, métricas, robótica, Learning by demonstration, imitation, metrics, robotic

Article type:

ARTICULO DE INVESTIGACION / RESEARCH ARTICLE

Section:

VARIOUS

ABSTRACT
This article proposes quantitative evaluation metrics of imitation, suited for the imitation of four gestures performed by a robotic arm on a simulation environment; for each gesture, the metric relies on a group of simple geometric shapes. This approach broadens the concept of imitation; since common metrics just accumulate the error between the joints of the demonstrator and the imitator along their trajectories, in other words, check for the exact replica of the gesture performed by the demonstrator. The results of the proposed metric are compared with an evaluation survey conducted in human observers.
KEYWORDS: Learning by demonstration, imitation, metrics, robotic.