Mapping between different kinematic structures without absolute positioning during operation
نویسندگان
چکیده
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 SOMtype 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.
منابع مشابه
Mapping between different kinematic structures without absolute positioning
When creating datasets for modelling of human grasping and manipulation 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. We present a simple method of bypassing the explicit modelling of the human kinematics.
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