Phase Distribution in Probabilistic Movement Primitives, Representing Time Variability for the Recognition and Reproduction of Human Movements

Vittorio Lippi, Raphael Deimel

Abstract

Probabilistic Movement Primitives (ProMPs) are a widely used representation of movements for human-robot interaction. They also facilitate the factorization of temporal and spatial structure of movements. In this work we investigate a method to temporally align observations so that when learning ProMPs, information in the spatial structure of the observed motion is maximized while maintaining a smooth phase velocity. We apply the method on recordings of hand trajectories in a two-dimensional reaching task. A system for simultaneous recognition of movement and phase is proposed and performance of movement recognition and movement reproduction is discussed.

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Paper Citation


in Harvard Style

Lippi V. and Deimel R. (2019). Phase Distribution in Probabilistic Movement Primitives, Representing Time Variability for the Recognition and Reproduction of Human Movements.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-380-3, pages 571-578. DOI: 10.5220/0007750205710578


in Bibtex Style

@conference{icinco19,
author={Vittorio Lippi and Raphael Deimel},
title={Phase Distribution in Probabilistic Movement Primitives, Representing Time Variability for the Recognition and Reproduction of Human Movements},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2019},
pages={571-578},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007750205710578},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Phase Distribution in Probabilistic Movement Primitives, Representing Time Variability for the Recognition and Reproduction of Human Movements
SN - 978-989-758-380-3
AU - Lippi V.
AU - Deimel R.
PY - 2019
SP - 571
EP - 578
DO - 10.5220/0007750205710578