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• W2289432827 abstract "This paper proposes a robot interface design method by which we can control humanoid end-effector movements with such a low-dimensional input device as a gamepad. In our proposed method, first, the numbers of movement trajectories to accomplish different tasks are generated using a simulated robot model and stored in a database. Second, a human user demonstrates the current task-related behavior. Third, the corresponding stored movements for the demonstrated human behavior are sparsely extracted by a sparse coding method. Finally, the sparsely extracted movement bases are linearly combined to generate a novel movement to accomplish a new target task where the linear weight parameters are modulated by the gamepad. We easily generated such complicated hand movements as spiral motions on a small humanoid robot with our proposed interface." @default.
• W2289432827 created "2016-06-24" @default.
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• W2289432827 date "2015-12-01" @default.
• W2289432827 modified "2023-09-26" @default.
• W2289432827 title "Sparsely extracting stored movements to construct interfaces for humanoid end-effector control" @default.
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• W2289432827 doi "https://doi.org/10.1109/robio.2015.7419036" @default.
• W2289432827 hasPublicationYear "2015" @default.
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