A classification method of motion database using hidden Markov model

Ayaka Matsui, Satoshi Nishimura, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper proposes a classification method of a stored motion-data. Robotic technology has made progress, and robots are demanded to cooperate with human. To realize the human and robot exist together, a motion recognition system is needed. In the conventional method, the stored motion-data is classified in advance to search the motion quickly and accurately. However, the task of the classification will be very complex when the stored data is increased. Therefore, the classification system of stored data automatically is required. Since the human motion is time series information and unsteady signal, a hidden Markov Model is used as the probability models. Additionally, this paper shows that Kullback-Leiblaer divergence indicates the similarity index of the stored motion. At this time, the motion is classified according to the acceleration information, which includes the pure force and position information. The validity of the proposed method is confirmed by simulations.

Original languageEnglish
Title of host publicationProceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2232-2237
Number of pages6
ISBN (Print)9781479923991
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 - Istanbul, Turkey
Duration: 2014 Jun 12014 Jun 4

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
CountryTurkey
CityIstanbul
Period14/6/114/6/4

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

Cite this

Matsui, A., Nishimura, S., & Katsura, S. (2014). A classification method of motion database using hidden Markov model. In Proceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 (pp. 2232-2237). [6864965] (IEEE International Symposium on Industrial Electronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE.2014.6864965