The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Task Complexity of Movement Skills for Robots

로봇 운동솜씨의 작업 복잡도

  • Kwon, Woo-Young (Department of Electronics and Computer Engineering, Hanyang University) ;
  • Suh, Il-Hong (Department of Electronics and Computer Engineering, Hanyang University) ;
  • Lee, Jun-Goo (Department of Electronics and Computer Engineering, Hanyang University) ;
  • You, Bum-Jae (Korea Institute of Science and Technology) ;
  • Oh, Sang-Rok (Korea Institute of Science and Technology)
  • Received : 2012.05.01
  • Accepted : 2012.07.12
  • Published : 2012.08.31
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Abstract

Measuring task complexity of movement skill is an important factor to evaluate a difficulty of learning and/or imitating a task for autonomous robots. Although many complexity-measures are proposed in research areas such as neuroscience, physics, computer science, and biology, there have been little attention on the robotic tasks. To cope with measuring complexity of robotic task, we propose an information-theoretic measure for task complexity of movement skills. By modeling proprioceptive as well as exteroceptive sensor data as multivariate Gaussian distribution, movements of a task can be modeled as probabilistic model. Additionally, complexity of temporal variations is modeled by sampling in time and modeling as individual random variables. To evaluate our proposed complexity measure, several experiments are performed on the real robotic movement tasks.

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References

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