Claassens, JDemiris, Y2011-12-122011-12-122011-09Claassens, 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 2011http://hdl.handle.net/10204/5390IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, USA, 25-30 September 2011This 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.enTrajectory dimension reductionHuman behavior recognitionIntelligent robotsRobotsIROS 2011Conference PresentationClaassens, J., & Demiris, Y. (2011). Generalising human demonstration data by identifying affordance symmetries in object interaction trajectories. IEEE. http://hdl.handle.net/10204/5390Claassens, J, and Y Demiris. "Generalising human demonstration data by identifying affordance symmetries in object interaction trajectories." (2011): http://hdl.handle.net/10204/5390Claassens J, Demiris Y, Generalising human demonstration data by identifying affordance symmetries in object interaction trajectories; IEEE; 2011. http://hdl.handle.net/10204/5390 .TY - Conference Presentation AU - Claassens, J AU - Demiris, Y AB - 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. DA - 2011-09 DB - ResearchSpace DP - CSIR KW - Trajectory dimension reduction KW - Human behavior recognition KW - Intelligent robots KW - Robots KW - IROS 2011 LK - https://researchspace.csir.co.za PY - 2011 T1 - Generalising human demonstration data by identifying affordance symmetries in object interaction trajectories TI - Generalising human demonstration data by identifying affordance symmetries in object interaction trajectories UR - http://hdl.handle.net/10204/5390 ER -