抄録
Since humanoid robots have similar body structures to humans, they are expected to perform tasks instead of humans. In order to successfully operate in daily life, they need to perform a variety of tool-use manipulation tasks. Understanding the relation between tool-usage and whole body motion is significant for tool-use manipulations. In this paper, we design a tool-use motion model which contains tool manipulation model and body motion model and we propose a method which enables robot to associate whole body motion with knowledge of tools by adopting the mimesis method from partial observation.
