抄録
This paper discusses human skills enabling rapid adaptations to a changing environment as seen when a table tennis player hits an incoming ball and presents how to transfer them to a robot. We consider that human skills can be classified into motor skills and cognitive skills. As for motor skills, a function involving precise movement of limbs with the intent to perform a specific act (hitting a ball), we extract motor primitives from human performance data. As for cognitive skills, a function involving a meaningful response to external stimuli, we find correlation of the stimulus (the ball's state) with the timing of response (starting to swing a racket). We also present table tennis rallies with a human opponent performed by a robot to which these skills are transferred.
