Copycat hand - robot hand generating imitative behavior

Kiyoshi Hoshino*, Emi Tamaki, Takanobu Tanimoto

*この研究の対応する著者

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

High speed, high accuracy and uniform processing time are essential in the hand posture estimation, to realize a robot hand capable of instantly imitating human actions. Therefore, in the present study, we have developed a method that enables the searching of similar images at high speeds and with high accuracy and the search involves uniform processing time, even in the case where a large-scale database is used. This is achieved by clustering databases having approximately uniform amounts of data using self-organization, including self-multiplication and self-extinction, and by collating the input images with the data in the database by means of the low-order image characteristics, while narrowing the search space in accordance with the past history. By estimating the sequential images of the finger shape by using this method, we successfully realized a process involving a joint angle estimation error within several degrees, a processing time of 150 - 160 fps, and an operating time without dispersion by using a PC having a CPU clock frequency of 2.8 GHz and a memory capacity of 512 MB.

本文言語English
ホスト出版物のタイトルProceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
ページ2876-2881
ページ数6
DOI
出版ステータスPublished - 2007 12月 1
外部発表はい
イベント33rd Annual Conference of the IEEE Industrial Electronics Society, IECON - Taipei, Taiwan, Province of China
継続期間: 2007 11月 52007 11月 8

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Conference

Conference33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
国/地域Taiwan, Province of China
CityTaipei
Period07/11/507/11/8

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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