Article

Recognition and reproduction of gestures using a probabilistic framework combining PCA, ICA and HMM

Authors:

Sylvain Calinon,

Aude BillardAuthors Info & Claims

ICML '05: Proceedings of the 22nd international conference on Machine learning

Pages 105 - 112

https://doi.org/10.1145/1102351.1102365

Published: 07 August 2005 Publication History

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Abstract

This paper explores the issue of recognizing, generalizing and reproducing arbitrary gestures. We aim at extracting a representation that encapsulates only the key aspects of the gesture and discards the variability intrinsic to each person's motion. We compare a decomposition into principal components (PCA) and independent components (ICA) as a first step of preprocessing in order to decorrelate and denoise the data, as well as to reduce the dimensionality of the dataset to make this one tractable. In a second stage of processing, we explore the use of a probabilistic encoding through continuous Hidden Markov Models (HMMs), as a way to encapsulate the sequential nature and intrinsic variability of the motions in stochastic finite state automata. Finally, the method is validated in a humanoid robot to reproduce a variety of gestures performed by a human demonstrator.

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Liu SSheng JOu Y(2023)Learning Compliant Assembly Strategy From Demonstration2023 IEEE International Conference on Real-time Computing and Robotics (RCAR)10.1109/RCAR58764.2023.10249450(929-934)Online publication date: 17-Jul-2023
https://doi.org/10.1109/RCAR58764.2023.10249450
Luo RWeng YJayakumar PBrudnak MPaul VDesaraju VStein JErsal TYang X(2023)Real-Time Workload Estimation Using Eye Tracking: A Bayesian Inference ApproachInternational Journal of Human–Computer Interaction10.1080/10447318.2023.220527440:15(4042-4057)Online publication date: 4-May-2023
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Osman AEl-Khoribi RShoman MWahby Shalaby M(2022)Preprocessing Trajectory Learning Techniques For Robots: A comparative study2022 International Conference on Decision Aid Sciences and Applications (DASA)10.1109/DASA54658.2022.9765285(1412-1415)Online publication date: 23-Mar-2022
https://doi.org/10.1109/DASA54658.2022.9765285
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Recognition and reproduction of gestures using a probabilistic framework combining PCA, ICA and HMM
1. Mathematics of computing
  1. Probability and statistics

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Information

Published In

ICML '05: Proceedings of the 22nd international conference on Machine learning

August 2005

1113 pages

ISBN:1595931805

DOI:10.1145/1102351

General Chair:
Saso Dzeroski
Jozef Stefan Institute, Slovenia
,
Program Chairs:
Luc De Raedt,
Stefan Wrobel

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 07 August 2005

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Liu SSheng JOu Y(2023)Learning Compliant Assembly Strategy From Demonstration2023 IEEE International Conference on Real-time Computing and Robotics (RCAR)10.1109/RCAR58764.2023.10249450(929-934)Online publication date: 17-Jul-2023
https://doi.org/10.1109/RCAR58764.2023.10249450
Luo RWeng YJayakumar PBrudnak MPaul VDesaraju VStein JErsal TYang X(2023)Real-Time Workload Estimation Using Eye Tracking: A Bayesian Inference ApproachInternational Journal of Human–Computer Interaction10.1080/10447318.2023.220527440:15(4042-4057)Online publication date: 4-May-2023
https://doi.org/10.1080/10447318.2023.2205274
Osman AEl-Khoribi RShoman MWahby Shalaby M(2022)Preprocessing Trajectory Learning Techniques For Robots: A comparative study2022 International Conference on Decision Aid Sciences and Applications (DASA)10.1109/DASA54658.2022.9765285(1412-1415)Online publication date: 23-Mar-2022
https://doi.org/10.1109/DASA54658.2022.9765285
Herrero EHo JKhatib O(2021)Understanding and Segmenting Human Demonstrations into Reusable Compliant Primitives2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS51168.2021.9636523(9437-9444)Online publication date: 27-Sep-2021
https://doi.org/10.1109/IROS51168.2021.9636523
Luo RWeng YWang YJayakumar PBrudnak MPaul VDesaraju VStein JErsal TYang X(2021)A workload adaptive haptic shared control scheme for semi-autonomous drivingAccident Analysis & Prevention10.1016/j.aap.2020.105968152(105968)Online publication date: Mar-2021
https://doi.org/10.1016/j.aap.2020.105968
Hosseini STaheri AAlemi MMeghdari A(2021)One-shot Learning from Demonstration Approach Toward a Reciprocal Sign Language-based HRIInternational Journal of Social Robotics10.1007/s12369-021-00818-116:4(645-657)Online publication date: 10-Aug-2021
https://doi.org/10.1007/s12369-021-00818-1
Luo RWang YWeng YPaul VBrudnak MJayakumar PReed MStein JErsal TYang X(2019)Toward Real-time Assessment of Workload: A Bayesian Inference ApproachProceedings of the Human Factors and Ergonomics Society Annual Meeting10.1177/107118131963129363:1(196-200)Online publication date: 20-Nov-2019
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Fernandez-Fernandez RVictores JEstevez DBalaguer C(2018)Real Evaluations Tractability using Continuous Goal-Directed Actions in Smart City ApplicationsSensors10.3390/s1811381818:11(3818)Online publication date: 7-Nov-2018
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Elbasiony RGomaa W(2018)Humanoids skill learning based on real-time human motion imitation using KinectIntelligent Service Robotics10.1007/s11370-018-0247-z11:2(149-169)Online publication date: 1-Apr-2018
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Kwon GJeong ISeo YYang H(2017)Framework for Creating Intuitive Motion Content for Humanoid Robots Based on Programming by DemonstrationInternational Journal of Advanced Robotic Systems10.5772/524519:4Online publication date: 15-May-2017
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