Segmentation method of human manipulation task based on measurement of force imposed by a human hand on a grasped object

Kazuya Matsuo, Kouji Murakami, Tsutomu Hasegawa, Kenji Tahara, Ryo Kurazume

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

6 被引用数 (Scopus)

抄録

This paper proposes a segmentation method of human manipulation task based on measurement of contact force imposed by a human hand on a grasped object. We define an index measure for segmenting a human manipulation task into primitives. The indices are calculated from the set of the contact forces measured at all the contact points during a manipulation task. Then, we apply the EM algorithm to the set of the indices in order to segment the manipulation task into primitives. These primitives are mapped onto the robotic hand to impose appropriate contact forces on a grasped object. In the experiments, manipulation tasks performed in daily human life have been successfully segmented.

本文言語英語
ホスト出版物のタイトル2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
ページ1767-1772
ページ数6
DOI
出版ステータス出版済み - 12 11 2009
イベント2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, 米国
継続期間: 10 11 200910 15 2009

出版物シリーズ

名前2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

その他

その他2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
国/地域米国
CitySt. Louis, MO
Period10/11/0910/15/09

All Science Journal Classification (ASJC) codes

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 人間とコンピュータの相互作用
  • 制御およびシステム工学

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