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Segmentation and recognition of human grasps for programming-by-demonstration using time-clustering and fuzzy modeling
Örebro University, Department of Technology. (AASS)
Örebro University, Department of Technology. (AASS)
2007 (English)In: IEEE international fuzzy systems conference, FUZZ-IEEE 2007, New York: IEEE , 2007, p. 1-6Conference paper, Published paper (Refereed)
Abstract [en]

In this article we address the problem of programming by demonstration (PbD) of grasping tasks for a five-fingered robotic hand. The robot is instructed by a human operator wearing a data glove capturing the hand poses. For a number of human grasps, the corresponding fingertip trajectories are modeled in time and space by fuzzy clustering and Takagi-Sugeno modeling. This so-called time-clustering leads to grasp models using the time as input parameter and the fingertip positions as outputs. For a test sequence of grasps the control system of the robot hand identifies the grasp segments, classifies the grasps and generates the sequence of grasps shown before. For this purpose, each grasp is correlated with a training sequence. By means of a hybrid fuzzy model the demonstrated grasp sequence can be reconstructed.

Place, publisher, year, edition, pages
New York: IEEE , 2007. p. 1-6
National Category
Engineering and Technology Computer and Information Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-4088DOI: 10.1109/FUZZY.2007.4295342ISBN: 1-4244-1209-9 (print)OAI: oai:DiVA.org:oru-4088DiVA, id: diva2:138387
Conference
IEEE international fuzzy systems conference, FUZZ-IEEE 2007, 23-26 July, London
Available from: 2007-11-01 Created: 2007-11-01 Last updated: 2018-01-13Bibliographically approved

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Palm, RainerIliev, Boyko

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CiteExportLink to record
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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf