NDLI: Manipulation skills acquisition through state classification and dimension decrease

Content Provider	IEEE Xplore Digital Library
Author	Shen Dong Naghdy, F.
Copyright Year	2005
Description	Author affiliation: Sch. of Electr., Comput. & Telecommun. Eng., Wollongong Univ., NSW (Shen Dong; Naghdy, F.)
Abstract	The paper carried out to explore the feasibility of reconstructing human constrained motion manipulation skills is reported. This is achieved by tracing and learning the manipulation performed by a human operator in a haptic rendered virtual environment. The peg-in-hole insertion problem is used as a case study. In the developed system, force and position variables generated in the haptic rendered virtual environment combined with a priori knowledge about the task are used to identify and learn the skills in the newly demonstrated task. The data obtained from the virtual environment is classified into different cluster sets using fuzzy Gustafson-Kessel model (FGK). Principal component analysis (PCA) is applied to each cluster to reduce the dimension of the data. The clusters in the optimum cluster set are tuned using locally weighted regression (LWR) to produce prediction models for robot trajectory performing the physical assembly based on the force/position information received from the rig
Starting Page	5
Ending Page	396
File Size	213037
Page Count	392
File Format	PDF
ISBN	0769524885
ISSN	10823409
DOI	10.1109/ICTAI.2005.83
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-11-14
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Virtual environment Haptic interfaces Principal component analysis Robotic assembly Humans Fuzzy sets Predictive models Robot sensing systems Trajectory Computer simulation
Content Type	Text
Resource Type	Article

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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
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