Abstract: Behavioral imitation is one of the important technologies for robots to show their intelligence. How to make the behaviors and actions imitated by robots similar to the demonstrating actions of human has become a hot research topic. In this paper, we design an improved robot behavior modeling framework based on simple method. The framework collects teaching action using normal monocular camera, and introduces behavior semantic recognition module and key action extraction module into the simple method. The framework enables robots to understand instructor's behavior semantics and then imitate instructor's behaviors. Finally, this framework is deployed on the HBE-ROBONOVA-AI II humanoid robot platform, and experiments are conducted using independently collected single-person action video data as input. Compared with the experimental results of other mainstream frameworks, this framework works with more excellent comprehensive performance in three aspects of accuracy, balance and similarity, and demonstrates a unique cognitive ability to instructor's behaviors.

Key words: behavior imitation, humanoid robot, behavior semantic recognition, key action extraction, cognitive computing