IMITATION OF GESTURES PERFORMED BY A ROBOTIC ARMS: A QUALITY ASSESSMENT APPROACH.

Abstract

This article proposes quantitative evaluation metrics of imitation, suited for the imitation of four gestures performed by a robotic arm on a simulation environment; for each gesture, the metric relies on a group of simple geometric shapes. This approach broadens the concept of imitation; since common metrics just accumulate the error between the joints of the demonstrator and the imitator along their trajectories, in other words, check for the exact replica of the gesture performed by the demonstrator. The results of the proposed metric are compared with an evaluation survey conducted in human observers.