Title :
Online intention recognition for computer-assisted teleoperation
Author :
Stefanov, Nikolay ; Peer, Angelika ; Buss, Martin
Author_Institution :
Inst. of Autom. Control Eng., Tech. Univ. Munchen, München, Germany
Abstract :
An online intention recognition algorithm for computer-assisted teleoperation is introduced. The algorithm is able to distinguish between phases of a typical object manipulation task. It adopts a new advanced feature extraction algorithm which extracts features from haptic data and uses a Hidden Markov Model for stochastic classification. The method is implemented and validated on a real hardware setup. The obtained results reveal a robust and fast intention recognition.
Keywords :
control engineering computing; feature extraction; hidden Markov models; telerobotics; computer-assisted teleoperation; feature extraction algorithm; haptic data; hidden Markov model; online intention recognition; real hardware setup; stochastic classification; Automatic control; Data mining; Feature extraction; Haptic interfaces; Hidden Markov models; Humans; Peer to peer computing; Robotics and automation; Robust stability; Stochastic processes;
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2010.5509432
