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Title page for ETD etd-06242013-111106


Type of Document Dissertation
Author Tan, Huan
Author's Email Address huantan@ieee.org
URN etd-06242013-111106
Title Integration of Imitation Learning with Cognitive Control for a Humanoid Robot
Degree PhD
Department Electrical Engineering
Advisory Committee
Advisor Name Title
Kazuhiko Kawamura Committee Chair
D. Mitch Wilkes Committee Member
Douglas Fisher Committee Member
Nilanjan Sarkar Committee Member
Richard Alan Peters II Committee Member
Keywords
  • Imitation Learning
  • Behavior Generalization
  • Cognitive Control
  • Cognitive Architecture
  • Humanoid Robot
  • Internal Rehearsal
Date of Defense 2013-06-04
Availability unrestricted
Abstract
The aim of dissertation is to develop a cognitive robotic system by integrating imitation learning with cognitive control and evaluate its performance using object manipulation tasks.

The robotic imitation learning framework is divided into five components: Behavior Acquisition, Behavior Segmentation, Behavior Dimension Reduction, Behavior Representation, and Behavior Generation. The cognitive control framework was added for robots to switch strategies (both physically and cognitively) to complete tasks. The integrated cognitive system was implemented based on the existing cognitive architecture. Three experiments were conducted to evaluate the integrated system performance. On experiment was carried out on a humanoid robot, named ISAC, and two experiments were carried out in the simulation environment. The experimental results demonstrated that the integrated system satisfies both the design and performance requirements of imitation learning and cognitive control.

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