| Presentation | 2003/10/17 Classification of Object-handling Tasks based on Qualitative Expression on Human Motion Data Tomomasa SATO, Hideyuki KUBOTERA, Tatsuya HARADA, Taketoshi MORI, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | This paper proposes an algorithm to acquire object-handling tasks abstracted from multiple observations of human motion in their dairy life. The algorithm consists of the following procedures; 1) Firstly, the system measures multiple human object-handling tasks on a table. Qualitatively expressed values are calculated from measured trajectory data of a human hand and an object together with table force data. This expressions are then converted to probabilistic description. 2) Secondary, the system classifies human tasks by utilizing the probabilistic description. 3) Thirdly the trajectory which enables the robot-hand to imitate each classified task is acquired. The experiment proves the validity of the algorithm. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | imitation / probability / qualitative expression / typical task |
| Paper # | PRMU2003-139,NC2003-70 |
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| Conference Information | |
| Committee | NC |
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| Conference Date | 2003/10/17(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Neurocomputing (NC) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Classification of Object-handling Tasks based on Qualitative Expression on Human Motion Data |
| Sub Title (in English) | |
| Keyword(1) | imitation |
| Keyword(2) | probability |
| Keyword(3) | qualitative expression |
| Keyword(4) | typical task |
| 1st Author's Name | Tomomasa SATO |
| 1st Author's Affiliation | Department of Mechano-Informatics, Graduate School of Information Science and Technology, Univ. of Tokyo() |
| 2nd Author's Name | Hideyuki KUBOTERA |
| 2nd Author's Affiliation | Department of Mechano-Informatics, Graduate School of Information Science and Technology, Univ. of Tokyo |
| 3rd Author's Name | Tatsuya HARADA |
| 3rd Author's Affiliation | Department of Mechano-Informatics, Graduate School of Information Science and Technology, Univ. of Tokyo |
| 4th Author's Name | Taketoshi MORI |
| 4th Author's Affiliation | Department of Mechano-Informatics, Graduate School of Information Science and Technology, Univ. of Tokyo |
| Date | 2003/10/17 |
| Paper # | PRMU2003-139,NC2003-70 |
| Volume (vol) | vol.103 |
| Number (no) | 392 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |