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Mapping between different kinematic structures without absolute positioning during operation
Örebro University, School of Science and Technology. (MRO;Centre for Applied Autonomous Sensor Systems ( AASS ))
Örebro University, School of Science and Technology. (MROMRO;Centre for Applied Autonomous Sensor Systems ( AASS ))
Örebro University, School of Science and Technology. (MRO; Centre for Applied Autonomous Sensor Systems ( AASS ))
Örebro University, School of Science and Technology. (MRO; Centre for Applied Autonomous Sensor Systems ( AASS ))
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2012 (English)In: Electronics Letters, ISSN 0013-5194, E-ISSN 1350-911X, Vol. 48, no 18, p. 1110-1112Article in journal, Letter (Refereed) Published
Abstract [en]

When creating datasets for modelling of human skills based on training examples from human motion, one can encounter the problem that the kinematics of the robot does not match the human kinematics. Presented is a simple method of bypassing the explicit modelling of the human kinematics based on a variant of the self-organising map (SOM) algorithm. While the literature contains instances of SOM-type algorithms used for dimension reduction, this reported work deals with the inverse problem: dimension increase, as we are going from 4 to 5 degrees of freedom.

Place, publisher, year, edition, pages
2012. Vol. 48, no 18, p. 1110-1112
Keywords [en]
robot kinematics, self-organising feature maps, SOM-type algorithms, human kinematics, human motion, human skills modelling, kinematic structures, robot kinematics, self-organising map algorithm, training examples
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-28853DOI: 10.1049/el.2012.1085ISI: 000308552200016OAI: oai:DiVA.org:oru-28853DiVA, id: diva2:618536
Note

Research funder: European Union, HANDLE project (no project number available)

Available from: 2013-04-29 Created: 2013-04-29 Last updated: 2018-01-11Bibliographically approved

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Berglund, ErikIliev, BoykoPalm, RainerKrug, RobertCharusta, KrzysztofDimitrov, Dimitar

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