NDLI: Interpretation of human demonstrations using Mirror Neuron System principles

Content Provider	IEEE Xplore Digital Library
Author	Iliev, B. Kadmiry, B. Palm, R.
Copyright Year	2007
Description	Author affiliation: Orebro Univ., Orebro (Iliev, B.; Kadmiry, B.; Palm, R.)
Abstract	In this article we suggest a framework for programming by demonstration of robotic grasping based on principles of the Mirror Neuron System (MNS) model. The approach uses a hand-state representation inspired by neurophysiological models of human grasping. We show that such a representation not only simplifies the grasp recognition but also preserves the essential part of the reaching motion associated with the grasp. We show that if the hand state trajectory of a demonstration can be reconstructed, the robot is able to replicate the grasp. This can be done using motion primitives, derived by fuzzy time-clustering from the demonstrated reach-and grasp motions. To illustrate the approach we show how human demonstrations of cylindrical grasps can be modeled, interpreted and replicated by a robot in this framework.
Starting Page	128
Ending Page	133
File Size	431510
Page Count	6
File Format	PDF
ISBN	9781424411153
DOI	10.1109/DEVLRN.2007.4354036
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-07-11
Publisher Place	UK
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mirror Neuron System model Neurons Humans Grasping Robotic grasping Programming-by-Demonstration Robotics and automation Robot programming Orbital robotics Service robots Time-clustering Dynamic programming Mirrors Motion control
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
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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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