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Interpretation of human demonstrations using mirror neuron system principles
Örebro University, Department of Technology. (AASS)
Örebro University, Department of Technology. (AASS)
Örebro University, Department of Technology. (AASS)
2007 (English)In: IEEE 6th international conference on development and learning, ICDL 2007, New York: IEEE , 2007, p. 128-133Conference paper, Published paper (Refereed)
Abstract [en]

In this article we suggest a framework for programming by demonstration of robotic grasping based on principles of the Mirror Neuron System (MNS) model. The approach uses a hand-state representation inspired by neurophysiological models of human grasping. We show that such a representation not only simplifies the grasp recognition but also preserves the essential part of the reaching motion associated with the grasp. We show that if the hand state trajectory of a demonstration can be reconstructed, the robot is able to replicate the grasp. This can be done using motion primitives, derived by fuzzy time-clustering from the demonstrated reach-and grasp motions. To illustrate the approach we show how human demonstrations of cylindrical grasps can be modeled, interpreted and replicated by a robot in this framework.

Place, publisher, year, edition, pages
New York: IEEE , 2007. p. 128-133
National Category
Engineering and Technology Computer and Information Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-4546DOI: 10.1109/DEVLRN.2007.4354036ISBN: 978-1-4244-1116-0 (print)OAI: oai:DiVA.org:oru-4546DiVA, id: diva2:138845
Conference
IEEE 6th international conference on development and learning, ICDL 2007, 11-13 July, London
Available from: 2008-04-16 Created: 2008-04-16 Last updated: 2018-01-13Bibliographically approved

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Iliev, BoykoKadmiry, BourhanePalm, Rainer

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CiteExportLink to record
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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
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  • Other style
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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