NDLI: Motion generation by reference-point-dependent trajectory HMMs

Content Provider	IEEE Xplore Digital Library
Author	Sugiura, K. Iwahashi, N. Kashioka, H.
Copyright Year	2011
Description	Author affiliation: National Institute of Information and Communications Technology, 3-5 Hikaridai, Seika, Soraku, Kyoto 619-0289, Japan (Sugiura, K.; Iwahashi, N.; Kashioka, H.)
Abstract	This paper presents an imitation learning method for object manipulation such as rotating an object or placing one object on another. In the proposed method, motions are learned using reference-point-dependent probabilistic models. Trajectory hidden Markov models (HMMs) are used as the probabilistic models so that smooth trajectories can be generated from the HMMs. The method was evaluated in physical experiments in terms of motion generation. In the experiments, a robot learned motions from observation, and it generated motions under different object placement. Experimental results showed that appropriate motions were generated even when the object placement was changed.
Starting Page	350
Ending Page	356
File Size	2002173
Page Count	7
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094791
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Hidden Markov models Training Cameras Robot kinematics Manipulators
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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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
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