A posture planning method in clustered synergy subspace for HIT/DLR hand II

Li Jiang; Bingchen Liu; Shaowei Fan; Hong Liu

doi:10.1007/978-3-030-27529-7_12

A posture planning method in clustered synergy subspace for HIT/DLR hand II

Li Jiang
, Bingchen Liu
, Shaowei Fan^*
, Hong Liu

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

In this paper, a dexterous hand posture planning method in clustered synergy subspace is proposed, and the HIT/DLR Hand II is used as verification platform. Firstly, posture dataset of the hand is obtained by recording the hand’s motion while human teleoperating it. Secondly, the synergy subspace of the hand is created by applying Gaussian process latent variable model on posture data. Thirdly, the data in synergy subspace is further clustered by K-means, because similarities between different postures can be predicted from their inter-distance in synergy subspace. Finally, posture of the dexterous hand is generated from the synergy-level data in specific cluster instead of the whole subspace. To evaluate the method proposed in this paper, comparation of posture reconstruction error between this method and directly posture planning in synergy space is shown. The results show that method proposed in this paper is more accurate and anthropomorphic, and the control paraments of the hand have been considerable reduced.

Original language	English
Title of host publication	Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
Editors	Haibin Yu, Jinguo Liu, Lianqing Liu, Yuwang Liu, Zhaojie Ju, Dalin Zhou
Publisher	Springer Verlag
Pages	134-145
Number of pages	12
ISBN (Print)	9783030275280
DOIs	https://doi.org/10.1007/978-3-030-27529-7_12
State	Published - 2019
Event	12th International Conference on Intelligent Robotics and Applications, ICIRA 2019 - Shenyang, China Duration: 8 Aug 2019 → 11 Aug 2019

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	11745 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	12th International Conference on Intelligent Robotics and Applications, ICIRA 2019
Country/Territory	China
City	Shenyang
Period	8/08/19 → 11/08/19

Keywords

Dexterous hands
Dimensional reduction
Posture planning

Access to Document

10.1007/978-3-030-27529-7_12

Cite this

Jiang, L., Liu, B., Fan, S., & Liu, H. (2019). A posture planning method in clustered synergy subspace for HIT/DLR hand II. In H. Yu, J. Liu, L. Liu, Y. Liu, Z. Ju, & D. Zhou (Eds.), Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings (pp. 134-145). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11745 LNAI). Springer Verlag. https://doi.org/10.1007/978-3-030-27529-7_12

Jiang, Li ; Liu, Bingchen ; Fan, Shaowei et al. / A posture planning method in clustered synergy subspace for HIT/DLR hand II. Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings. editor / Haibin Yu ; Jinguo Liu ; Lianqing Liu ; Yuwang Liu ; Zhaojie Ju ; Dalin Zhou. Springer Verlag, 2019. pp. 134-145 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

@inproceedings{146ce8e31e2f421e98e4be9e6e2d8f9f,

title = "A posture planning method in clustered synergy subspace for HIT/DLR hand II",

abstract = "In this paper, a dexterous hand posture planning method in clustered synergy subspace is proposed, and the HIT/DLR Hand II is used as verification platform. Firstly, posture dataset of the hand is obtained by recording the hand{\textquoteright}s motion while human teleoperating it. Secondly, the synergy subspace of the hand is created by applying Gaussian process latent variable model on posture data. Thirdly, the data in synergy subspace is further clustered by K-means, because similarities between different postures can be predicted from their inter-distance in synergy subspace. Finally, posture of the dexterous hand is generated from the synergy-level data in specific cluster instead of the whole subspace. To evaluate the method proposed in this paper, comparation of posture reconstruction error between this method and directly posture planning in synergy space is shown. The results show that method proposed in this paper is more accurate and anthropomorphic, and the control paraments of the hand have been considerable reduced.",

keywords = "Dexterous hands, Dimensional reduction, Posture planning",

author = "Li Jiang and Bingchen Liu and Shaowei Fan and Hong Liu",

note = "Publisher Copyright: {\textcopyright} Springer Nature Switzerland AG 2019.; 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019 ; Conference date: 08-08-2019 Through 11-08-2019",

year = "2019",

doi = "10.1007/978-3-030-27529-7\_12",

language = "英语",

isbn = "9783030275280",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

publisher = "Springer Verlag",

pages = "134--145",

editor = "Haibin Yu and Jinguo Liu and Lianqing Liu and Yuwang Liu and Zhaojie Ju and Dalin Zhou",

booktitle = "Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings",

address = "德国",

}

Jiang, L, Liu, B, Fan, S & Liu, H 2019, A posture planning method in clustered synergy subspace for HIT/DLR hand II. in H Yu, J Liu, L Liu, Y Liu, Z Ju & D Zhou (eds), Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 11745 LNAI, Springer Verlag, pp. 134-145, 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019, Shenyang, China, 8/08/19. https://doi.org/10.1007/978-3-030-27529-7_12

A posture planning method in clustered synergy subspace for HIT/DLR hand II. / Jiang, Li; Liu, Bingchen; Fan, Shaowei et al.
Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings. ed. / Haibin Yu; Jinguo Liu; Lianqing Liu; Yuwang Liu; Zhaojie Ju; Dalin Zhou. Springer Verlag, 2019. p. 134-145 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11745 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A posture planning method in clustered synergy subspace for HIT/DLR hand II

AU - Jiang, Li

AU - Liu, Bingchen

AU - Fan, Shaowei

AU - Liu, Hong

N1 - Publisher Copyright: © Springer Nature Switzerland AG 2019.

PY - 2019

Y1 - 2019

N2 - In this paper, a dexterous hand posture planning method in clustered synergy subspace is proposed, and the HIT/DLR Hand II is used as verification platform. Firstly, posture dataset of the hand is obtained by recording the hand’s motion while human teleoperating it. Secondly, the synergy subspace of the hand is created by applying Gaussian process latent variable model on posture data. Thirdly, the data in synergy subspace is further clustered by K-means, because similarities between different postures can be predicted from their inter-distance in synergy subspace. Finally, posture of the dexterous hand is generated from the synergy-level data in specific cluster instead of the whole subspace. To evaluate the method proposed in this paper, comparation of posture reconstruction error between this method and directly posture planning in synergy space is shown. The results show that method proposed in this paper is more accurate and anthropomorphic, and the control paraments of the hand have been considerable reduced.

AB - In this paper, a dexterous hand posture planning method in clustered synergy subspace is proposed, and the HIT/DLR Hand II is used as verification platform. Firstly, posture dataset of the hand is obtained by recording the hand’s motion while human teleoperating it. Secondly, the synergy subspace of the hand is created by applying Gaussian process latent variable model on posture data. Thirdly, the data in synergy subspace is further clustered by K-means, because similarities between different postures can be predicted from their inter-distance in synergy subspace. Finally, posture of the dexterous hand is generated from the synergy-level data in specific cluster instead of the whole subspace. To evaluate the method proposed in this paper, comparation of posture reconstruction error between this method and directly posture planning in synergy space is shown. The results show that method proposed in this paper is more accurate and anthropomorphic, and the control paraments of the hand have been considerable reduced.

KW - Dexterous hands

KW - Dimensional reduction

KW - Posture planning

UR - https://www.scopus.com/pages/publications/85070715999

U2 - 10.1007/978-3-030-27529-7_12

DO - 10.1007/978-3-030-27529-7_12

M3 - 会议稿件

AN - SCOPUS:85070715999

SN - 9783030275280

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 134

EP - 145

BT - Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings

A2 - Yu, Haibin

A2 - Liu, Jinguo

A2 - Liu, Lianqing

A2 - Liu, Yuwang

A2 - Ju, Zhaojie

A2 - Zhou, Dalin

PB - Springer Verlag

T2 - 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019

Y2 - 8 August 2019 through 11 August 2019

ER -

Jiang L, Liu B, Fan S , Liu H. A posture planning method in clustered synergy subspace for HIT/DLR hand II. In Yu H, Liu J, Liu L, Liu Y, Ju Z, Zhou D, editors, Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings. Springer Verlag. 2019. p. 134-145. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-030-27529-7_12

A posture planning method in clustered synergy subspace for HIT/DLR hand II

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