NDLI: Modeling anthropomorphism in dynamic human arm movements

Content Provider	IEEE Xplore Digital Library
Author	Katsiaris, P.T. Artemiadis, P.K. Kyriakopoulos, K.J.
Copyright Year	2010
Description	Author affiliation: Department of Mechanical Engineering, Massachusetts Institute of Technology (MIT), Cambridge, USA (Artemiadis, P.K.) \|\| Control Systems Lab, School of Mechanical Eng., National Technical University of Athens, 9 Heroon Polytechniou Str, 157 80, Greece (Katsiaris, P.T.; Kyriakopoulos, K.J.)
Abstract	Human motor control has always acted as an inspiration in both robotic manipulator design and control. In this paper, a modeling approach of anthropomorphism in human arm movements during every-day life tasks is proposed. The approach is not limited to describing static postures of the human arm but is able to model posture transitions, in other words, dynamic arm movements. The method is based on a novel structure of a Dynamic Bayesian Network (DBN) that is constructed using motion capture data. The structure and parameters of the model are learnt from the motion capture data used for training. Once trained, the proposed model can generate new anthropomorphic arm motions. These motions are then used for controlling an anthropomorphic robot arm, while a measure of anthropomorphism is defined and utilized for assessing resulted motion profiles.
Starting Page	3507
Ending Page	3512
File Size	863040
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5651834
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Humans Manipulators Graphical models Dynamics Hidden Markov models
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in