Description of Sequences of Rhythmic Motor Primitives

Abstract

Various problems of the task-level robot learning from demonstration has received substantial attention recently. Among other, we can mention investigation of motor primitives. In particular, different rhythmic motor tasks are very important. Recently, the approximate period problem was considered as a model for the investigation of sequences of motor primitives. In this paper, we consider the approximate period problem and some modifications of the problem for the investigation of sequences of rhythmic motor primitives.

On the adjustment of the weights of the Levenshtein distance for the description of sequences of rhythmic motor primitives

“…There are many different rhythmic motor tasks that could be learned [6]. Recently, the approximate period problem was considered for the investigation of sequences of motor primitives [7,8]. It should be noted that some weighted Levenshtein distance is needed for the approximate period models.…”

“…In our experiments, we use experimental setup that described in the paper [8]. In particular, we consider the problem (K,P)-AP that proposed in the paper [8].…”

“…In our experiments, we use experimental setup that described in the paper [8]. In particular, we consider the problem (K,P)-AP that proposed in the paper [8]. In our experiments, we use the special module that builds and applies logic rules and consider the time of the adjustment of the parameters.…”

“…In our experiments, we use the special module that builds and applies logic rules and consider the time of the adjustment of the parameters. We use for comparison results from [8] that obtained purely during autonomous practice. Selected experimental results for test sets T [1] and T [2] from [8] are given in the Table 1. T [1] T[2] autonomous practice 3.214002 5.701104 autonomous practice and logic rules 2.733012 3.640019 Table 1: The time of a proper adjustment of the parameters.…”