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This paper is concerned with automatic construction algorithm for gesture network. Gesture network is a network model of gestures for gesture recognition, especially early recognition and motion prediction. Manual construction of gesture network is inefficient, and thus its automatic construction method is expected; this is because gesture network has to be constructed, whenever target gestures are...
Repeated patterns are useful clues to learn previously unknown events in an unsupervised way. This paper presents a novel method that detects relatively long variable-length unknown repeated patterns in a motion sequence efficiently. The major contribution of the paper is two-fold: (1) Partly Locality Sensitive Hashing (PLSH) [1] is employed to find repeated patterns efficiently and (2) the problem...
A controller for biped running has to consider varying vertical ground reaction force while satisfying the horizontal ground reaction force and moment limits. We propose a design technique for feedback gains to stabilize the upper body position under varying vertical ground reaction force. We also propose an extended model ZMP control method which uses horizontal and rotational acceleration of the...
In this paper, we propose a method that detects repeated motion patterns in a long motion sequence efficiently. Repeated motion patterns are the structured information that can be obtained without knowledge of the context of motions. They can be used as a seed to find causal relationships between motions or to obtain contextual information of human activity, which is useful for intelligent systems...
The present paper describes a decision method for the placement of mechanical tactile elements for grasp type recognition. Based on the mutual information of the manipulation tasks and tactile information, an effective placement of tactile elements on a sensing glove is determined. Although the effective placement consists of a small number of tactile elements, it has a recognition performance that...
In this paper, we propose a method for estimating meaningful actions from long-term observation of everyday manipulation tasks without prior knowledge as part of an action understanding framework for life support robotic systems. The target task is defined as a sequence of interactions between objects. An interaction that appears many times is assumed to be meaningful and repetitious relative motion...
This paper studies dynamics of a simple chaotic spiking oscillator having piecewise constant characteristics. The state variable can vibrate and is reset to the base level just after it reaches the threshold. Repeating this vibrate-and-fire behavior, rich chaotic spike-trains can be generated. Since the solution and return map are piecewise linear, precise analysis is possible. We have investigated...
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