Recognizing Hand Grasp and Manipulation Through Empirical Copula

International Journal of Social Robotics

Volumn 2, Issue 3, 2010, Pages 321-328

  Ju, Zhaojie ^a   Liu, Honghai ^a  

^a UNIVERSITY OF PORTSMOUTH   (United Kingdom)

Author keywords

Empirical copula; Human robot interaction; Recognition; Robotic hand

Indexed keywords

AGRICULTURAL ROBOTS; END EFFECTORS; HIDDEN MARKOV MODELS; HUMAN ROBOT INTERACTION; MAN MACHINE SYSTEMS; MOTION ESTIMATION; PALMPRINT RECOGNITION; STATISTICS; TRELLIS CODES;

COMPUTATIONAL COSTS; EMPIRICAL COPULA; GAUSSIAN MIXTURE MODEL (GMMS); HIDDEN MARKOV MODELS (HMMS); HUMAN MOTION RECOGNITION; MATCHING ALGORITHM; POTENTIAL SAFETY HAZARDS; RECOGNITION;

SOCIAL ROBOTS;

EID: 84857639593     PISSN: 18754791     EISSN: 18754805     Source Type: Journal    
DOI: 10.1007/s12369-010-0055-x     Document Type: Article

References (40)

1. Kawasaki H, Komatsu T, Uchiyama K (2002) Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II. IEEE/ASME Trans Mechatron 7(3):296-303
2. He P, Jin MH, Yang L, Wei R, Liu YW, Cai HG, Liu H, Seitz N, Butterfass J, Hirzinger G (2004) High performance DSP/FPGA controller for implementation of HIT/DLR dexterous robot hand. In: Proceedings of the IEEE international conference on robotics and automation, pp 3397-3402
3. Hoshino K, Kawabuchi I (2005) Stable pinching with fingertips in humanoid robot hand. In: 2005 IEEE/RSJ international conference on intelligent robots and systems, 2005 (IROS 2005), pp 4149-4154
4. Design of LARM hand: Problems and solutions
5. Shadow Robot Company (2009) http://www.shadowrobot.com/
6. Matsuoka Y, Afshar P, Oh M (2006) On the design of robotic hands for brain-machine interface. Neurosurg Focus 20(5):1-9
7. Jones LA, Lederman SJ (2006) Human hand function. Oxford University Press, London
8. Kulić D, Croft EA (2006) Real-time safety for human-robot interaction. Robot Auton Syst 54(1):1-12
9. Haddadin S, Albu-Schaffer A, Hirzinger G (2007) Safety evaluation of physical human-robot interaction via crash-testing. In: Robotics: science and systems conference (RSS2007), pp 217-224
10. Waarsing BJW, Nuttin M, Van Brussel H, Corteville B (2005) From biological inspiration toward next-generation manipulators: manipulator control focused on human tasks. IEEE Trans Syst Man Cybern Part C: Appl Rev 35(1):53-65
11. Yang HD, Park AY, Lee SW (2007) Gesture spotting and recognition for human-robot interaction. IEEE Trans Robot 23(2):256-270
12. Zaeh M, Roesel W (2009) Safety aspects in a human-robot interaction scenario: a human worker is co-operating with an industrial robot. In: Progress in robotics: FIRA RoboWorld congress 2009, Incheon, Korea, August 16-20. Proceedings, pp 53-62
13. Kulić D, Croft E (2007) Pre-collision safety strategies for human-robot interaction. Auton Robots 22(2):149-164
14. Yu H, Sun G, Song W, Li X (2005) Human motion recognition based on neural network. In: Communications, circuits and systems, 2005. Proceedings. 2005 international conference on, p 2
15. Chen YT, Tseng KT (2007) Multiple-angle hand gesture recognition by fusing SVM classifiers. In: Proc IEEE international conference on automation science and engineering, 22-25 Sept 2007, pp 527-530
16. Bedregal BC, Dimuro GP, Costa ACR (2007) Hand gesture recognition in an interval fuzzy approach. TEMA Tend Mat Apl Comput 8(1):21-31
17. Bedregal BC, Costa ACR, Dimuro GP (2006) Fuzzy rule-based hand gesture recognition. Artif Intell Theory Pract 217:285-294
18. Calinon S, Billard A (2007) Incremental learning of gestures by imitation in a humanoid robot. In: Proceedings of the ACM/IEEE international conference on human-robot interaction, pp 255-262
19. Rabiner LR (1989) A tutorial on hidden Markov models and selected applications in speech recognition. Proc IEEE 77(2):257-286
20. Bernardin K, Ogawara K, Ikeuchi K, Dillmann R (2005) A sensor fusion approach for recognizing continuous human grasping sequences using hidden Markov models. IEEE Trans Robotics 21(1):47-57
21. Ju Z, Liu H, Zhu X, Xiong Y (2009) Dynamic grasp recognition using time clustering, Gaussian mixture models and hidden Markov models. J Adv Robotics 23:1359-1371
22. Dasgupta A, Raftery AE (1998) Detecting features in spatial point processes with clutter via model-based clustering. J Am Stat As-soc 93:294-302
23. Fraley C, Raftery AE (1998) How many clusters? Which clustering method? Answers via model-based cluster analysis. Comput J 41(8):578-588
24. Deheuvels P (1979) La fonction de dépendance empirique et ses propriétés: Un test non paramétrique d'indépendance. Bull Acad R Belg Cl Sci 65:274-292
25. Deheuvels P (1981) A non parametric test for independence. Publ Inst Stat Univ Paris 26(2):29-50
26. Dempster MAH, Medova EA, Yang SW (2007) Empirical copulas for CDO tranche pricing using relative entropy. Int J Theor Appl Finance 10(4):679-701
27. Ma J, Sun Z (2008) Dependence structure estimation via copula. Arxiv preprint, arXiv:0804.4451
28. Kojadinovic I, (2010) Hierarchical clustering of continuous variables based on the empirical copula process and permutation linkages. Comput. Stat. Data Anal. 54(1):90-108
29. Cherubini U, Luciano E, Vecchiato W (2004) Copula methods in finance. Wiley, New York
30. Nelsen RB (2006) An introduction to copulas. Springer, Berlin
31. Sklar A (1959) Fonctions de répartition a n dimensions et leurs marges. Publ Inst Stat Univ Paris 8:229-231
32. Kolev N, Anjos U, Mendes BVM (2006) Copulas: a review and recent developments. Stoch Models 22(4):617-660
33. Kruskal WH (1958) Ordinal measures of association. J Am Stat Assoc 53(284):814-861
34. Lehmann EL (1966) Some concepts of dependence. Ann Math Stat 37(5):1137-1153
35. Iberall T (1997) Human prehension and dexterous robot hands. Int J Robot Res 16(3):285-299
36. Liu H, Brown DJ, Coghill GM (2008) Fuzzy qualitative robot kinematics. IEEE Trans Fuzzy Syst 16(3):802-822
37. Liu H, Coghill GM, Brown DJ (2007) Qualitative kinematics of planar robots: intelligent connection. Int J Approx Reason 46(3):525-541
38. Liu H (2008) A fuzzy qualitative framework for connecting robot qualitative and quantitative representations. IEEE Trans Fuzzy Syst 16(6):1522-1530
39. Chan CS, Liu H (2009) Fuzzy qualitative human motion analysis. IEEE Trans Fuzzy Syst 17(4):851-862
40. Liu H, Coghill GM, Barnes DP (2009) Fuzzy qualitative trigonometry. Int J Approx Reason 51(1):71-88