Mapping between different kinematic structures without absolute positioning during operation

• When creating datasets for modelling of human skills based on training examples from human motion, one can encounter the problem that the kinematics of the robot does not match the human kinematics. Presented is a simple method of bypassing the explicit modelling of the human kinematics based on a variant of the self-organising map (SOM) algorithm. While the literature contains instances of SOM-type algorithms used for dimension reduction, this reported work deals with the inverse problem: dimension increase, as we are going from 4 to 5 degrees of freedom.

Ämnesord

NATURVETENSKAP  -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)

NATURAL SCIENCES  -- Computer and Information Sciences -- Computer Sciences (hsv//eng)

Nyckelord

robot kinematics

self-organising feature maps

SOM-type algorithms

human kinematics

human motion

human skills modelling

kinematic structures

robot kinematics

self-organising map algorithm

training examples

Computer Science

Datavetenskap

Publikations- och innehållstyp

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