A proposal of extracting of motion primitives by analyzing tracked data of hand motion from human demonstration

Ngoc Hung Pham, Takashi Yoshimi

研究成果: Conference contribution

2 引用 (Scopus)

抄録

This paper presents a proposal to achieve motion primitives in the execution of manipulation actions from human demonstration. Human hand motion contains the most important information in the execution of manipulation actions. We design a method by using Kinect sensor to capture hand motion of each demonstrated action with a three-color-marker glove. The hand motion tracking data is calculated with three types: hand 3D position, hand orientation and hand states. Then, these tracked data is segmented to extract the motion primitives which then are used for building robot program that executes the action. We categorize three types of motion primitives including translation, rotation and state changing. In this study, we combine segmentation techniques based on mean square velocity and the change of hand state to extract the primitives of translation and state changing in the execution of action 'pick a cup'. In the experiment, we implement our design for tracking hand motion and analyze the tracked data to confirm our proposed segmentation techniques.

元の言語English
ホスト出版物のタイトル47th International Symposium on Robotics, ISR 2016
出版者VDE Verlag GmbH
ページ467-472
ページ数6
ISBN(電子版)9783800742318
出版物ステータスPublished - 2016
イベント47th International Symposium on Robotics, ISR 2016 - Munich, Germany
継続期間: 2016 6 212016 6 22

Other

Other47th International Symposium on Robotics, ISR 2016
Germany
Munich
期間16/6/2116/6/22

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Demonstrations
Robots
Color
Sensors
Experiments

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Building and Construction

これを引用

Pham, N. H., & Yoshimi, T. (2016). A proposal of extracting of motion primitives by analyzing tracked data of hand motion from human demonstration. : 47th International Symposium on Robotics, ISR 2016 (pp. 467-472). VDE Verlag GmbH.

A proposal of extracting of motion primitives by analyzing tracked data of hand motion from human demonstration. / Pham, Ngoc Hung; Yoshimi, Takashi.

47th International Symposium on Robotics, ISR 2016. VDE Verlag GmbH, 2016. p. 467-472.

研究成果: Conference contribution

Pham, NH & Yoshimi, T 2016, A proposal of extracting of motion primitives by analyzing tracked data of hand motion from human demonstration. : 47th International Symposium on Robotics, ISR 2016. VDE Verlag GmbH, pp. 467-472, 47th International Symposium on Robotics, ISR 2016, Munich, Germany, 16/6/21.
Pham NH, Yoshimi T. A proposal of extracting of motion primitives by analyzing tracked data of hand motion from human demonstration. : 47th International Symposium on Robotics, ISR 2016. VDE Verlag GmbH. 2016. p. 467-472
Pham, Ngoc Hung ; Yoshimi, Takashi. / A proposal of extracting of motion primitives by analyzing tracked data of hand motion from human demonstration. 47th International Symposium on Robotics, ISR 2016. VDE Verlag GmbH, 2016. pp. 467-472
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