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Minimum jerk based prediction of user actions for a ball catching task
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2078-8854
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
2007 (English)In: IEEE International Conference on Intelligent Robots and Systems: Vols 1-9, IEEE conference proceedings, 2007, 2716-2722 p.Conference paper, Published paper (Refereed)
Abstract [en]

The present paper examines minimum jerk models for human kinematics as a tool to predict user input in teleoperation with significant dynamics. Predictions of user input can be a powerful tool to bridge time-delays and to trigger autonomous sub-sequences. In this paper an example implementation is presented, along with the results of a pilot experiment in which a virtual reality simulation of a teleoperated ball-catching scenario is used to test the predictive power of the model. The results show that delays up to 100 ms can potentially be bridged with this approach.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2007. 2716-2722 p.
Keyword [en]
prediction, minimum jerk, teleoperation
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-39181DOI: 10.1109/IROS.2007.4398989ISI: 000254073201217Scopus ID: 2-s2.0-51349090120ISBN: 978-1-4244-0911-2 (print)OAI: oai:DiVA.org:kth-39181DiVA: diva2:439502
Conference
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007; San Diego, CA; 29 October 2007 through 2 November 2007
Note
Copyright 2007 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. QC 20110908Available from: 2012-01-11 Created: 2011-09-08 Last updated: 2012-01-11Bibliographically approved

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Bratt, MattiasSmith, ChristianChristensen, Henrik I.
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CiteExportLink to record
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