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Please use this identifier to cite or link to this item: http://hdl.handle.net/10204/5390

Title: Generalising human demonstration data by identifying affordance symmetries in object interaction trajectories
Authors: Claassens, J
Demiris, Y
Keywords: Trajectory dimension reduction
Human behavior recognition
Intelligent robots
Robots
IROS 2011
Issue Date: Sep-2011
Publisher: IEEE
Citation: Claassens, J and Demiris, Y. 2011. Generalising human demonstration data by identifying affordance symmetries in object interaction trajectories. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, USA, 25-30 September 2011
Series/Report no.: Workflow request;7699
Abstract: This paper concerns modelling human hand or tool trajectories when interacting with everyday objects. In these interactions symmetries may be exhibited in portions of the trajectories which can be used to identify task space redundancy. This paper presents a formal description of a set of these symmetries, which are termed affordance symmetries, and a method to identify them in multiple demonstration recordings. The approach is robust to arbitrary motion before and after the symmetry artifact and relies only on recorded trajectory data. To illustrate the method’s performance two examples are discussed involving two different types of symmetries. A simple illustration of the application of the concept in reproduction planning is also provided.
Description: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, USA, 25-30 September 2011
URI: http://hdl.handle.net/10204/5390
Appears in Collections:Mobile intelligent autonomous systems
General science, engineering & technology

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