Recognition of human grasps by time-clustering and fuzzy modeling

Robotics and Autonomous Systems

Volumn 57, Issue 5, 2009, Pages 484-495

  Palm, Rainer ^a   Iliev, Boyko ^a   Kadmiry, Bourhane ^a  

^a ÖREBRO UNIVERSITY   (Sweden)

Author keywords

Fuzzy clustering; Fuzzy modeling; Grasp recognition; Programming by demonstration

Indexed keywords

DEMONSTRATIONS; END EFFECTORS; FUZZY SYSTEMS; GESTURE RECOGNITION; INDUSTRIAL ROBOTS; ROBOT PROGRAMMING; ROBOTIC ARMS; ROBOTICS;

DATA GLOVES; FINGERTIP TRAJECTORIES; FUZZY MODELING; FUZZY MODELS; GRASP RECOGNITION; HAND POSE; HUMAN OPERATORS; INPUT PARAMETERS; PROGRAMMING-BY-DEMONSTRATION; ROBOT HANDS; ROBOTIC HANDS; TAKAGI-SUGENO; TIME AND SPACES; TIME-CLUSTERING; TRAINING SEQUENCES;

FUZZY CLUSTERING;

EID: 63149177143     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2008.10.012     Document Type: Article

References (23)

1. Kang S.B., and Ikeuchi K. Towards automatic robot instruction form perception - mapping human grasps to manipulator grasps. IEEE Transactions on Robotics and Automation 13 1 (1997)
2. Zoellner R., Rogalla O., Dillmann R., and Zoellner J.M. Dynamic grasp recognition within the framework of programming by demonstration. Proceedings Robot and Human Interactive Communication, 10th IEEE International Workshop. Bordeaux, Paris, France, September 18-21 (2001), IEEE
3. Bernardin K., Ogawara K., Ikeuchi K., and Dillman R. A sensor fusion approach for recognizing continuous human grasp sequences using hidden Markov models. IEEE Transactions on Robotics 21 1 (2005)
4. S. Ekvall, D. Kragic, Grasp recognition for programming by demonstration, in: Proceedings of International Conference on Robotics and Automation, ICRA 2005, Barcelona, Spain, 2005
5. Martinez D., and Kragic D. Modeling and recognition of actions through motor primitives. Proceedings ICRA 2008, IEEE International Conference on Robots and Automation (2008), IEEE, Pasadena, CA, USA
6. Li Ch., Khan L., and Prabhaharan B. Real-time classification of variable length multi-attribute motions. Knowledge and Information Systems (2005) 10.1007/s10115-005-0223-8
7. Aleotti J., and Caselli S. Grasp recognition in virtual reality for robot pregrasp planning by demonstration. ICRA 2006-International Conference on Robotics and Automation (2006), IEEE, Orlando, FL, USA
8. Vicente I.S., Kyrki V., Kragic D., and Larson M. Action recognition and understanding through motor primitives. Advanced Robotics 21 15 (2007) 1687-1702
9. Calinon S., and Billard A. Incremental learning of gestures by imitation in a humanoid robot. Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2007 (2007), IEEE, ACM, Arlington, Virginia, USA
10. O. Bimber, Continuous 6D gesture recognition: A fuzzy-logic approach, in: Proceedings of 7-th International Conference in Central Europe on Computer Graphics, Visualization and Interactive Digital Media, WSCG'99, 1999, pp. 24-30
11. S. Ferguson, G. Dunlop, Grasp recognition from myoelectric signals, in: Proceedings Australasian Conference Robotics and Automation, 2002, pp. 78-83
12. Fleet D.J., Black M.J., and Nestares O. Bayesian inference of visual motion boundaries. Exploring Artificial Intelligence in the New Millenium (2003), Morgan, Kaufmann 139-173
13. Kruger V., Kragic D., Ude A., and Geib C. Action recognition and understanding through motor primitives. Advanced Robotics 21 13 (2007) 1473-1501
14. Palm R., and Iliev B. Learning of grasp behaviors for an artificial hand by time clustering and Takagi-Sugeno modeling. Proceedings FUZZ-IEEE 2006 - IEEE International Conference on Fuzzy Systems. Vancouver, BC, Canada, July 16-21 (2006), IEEE
15. Palm R., and Iliev B. Segmentation and recognition of human grasps for programming-by-demonstration using time clustering and Takagi-Sugeno modeling. Proceedings FUZZ-IEEE 2007 - IEEE International Conference on Fuzzy Systems. London, UK, July 23-26 (2007), IEEE
16. Palm R., and Iliev B. Grasp recognition by time clustering, fuzzy modeling, and Hidden Markov Models (HMM) - a comparative study. Proceedings FUZZ-IEEE 2008 - IEEE International Conference on Fuzzy Systems. Hong Kong, July 1-5 (2008), IEEE
17. Skoglund A., Iliev B., Kadmiry B., and Palm R. Programming by demonstration of pick-and-place tasks for industrial manipulators using task primitives. Proceedings Computational Intelligence in Robotics and Automation. CIRA 2007, Jacksonville, FL, USA, June 20-23 (2007), IEEE
18. H.H. Asada, J.R. Fortier, Task recognition and human-machine coordination through the use of an instrument-glove. Progress report No. 2-5, March 2000, pp. 1-39
19. Cutkosky M. On grasp choice, grasp models, and the design of hands for manufacturing tasks. IEEE Transactions on Robotics and Automation 5 3 (1989)
20. Iberall T. Human prehension and dexterous robot hands. The International Journal of Robotics Research 16 (1997) 285-299
21. Palm R., and Stutz Ch. Open loop dynamic trajectory generator for a fuzzy gain scheduler. Engineering Applications of Artificial Intelligence 16 (2003) 213-225
22. Takagi T., and Sugeno M. Fuzzy identification of systems and its applications to modeling and control. IEEE Transactions on Systems, Man, and Cybernetics 15 1 (1985) 116-132
23. D.E. Gustafson, W.C. Kessel, Fuzzy clustering with a fuzzy covariance matrix, in: Proceedings of the 1979 IEEE CDC, 1979, pp. 761-766