Abstract
In this paper, a new mimesis scheme is proposed. This scheme enables for a humanoid to imitate human's motion even though the humanoid cannot see human's whole-body motion and the humanoid did not seen the exactly same motion before. Our mimesis framework is based on continuous Hidden Markov Model. Viterbi algorithm is applied in order to generate more various motion patterns than the number of existing proto-symbols. In order for the humanoid to imitate other's motion in a smooth way, a smoothing technique in generation problem is realized. The feasibility of the proposed scheme is demonstrated by simulation on a 20 degrees of freedom humanoid robot configuration.
