RSS 2008 Tutorial Skills Capture and Transfer (June 28, 2008, Zurich, Switzerland)
Multimodal systems integrate Robotic devices with other Virtual and Mixed Environment technologies to interact with Human beings. The proposed tutorial on Skills Capture and Transfer aims at providing analyze and transfer the skilled component of human activities with the use of multimodal technologies. This topic ranges from the multimodal capture of a human task? to the rendering of the skill using haptic interfaces and advanced visualization techniques. At the same time the data acquired in real time is processed by machine learning algorithms for the identification of performance, comparing the user with an existing database of skilled user, producing as an outcome the required stimuli for improving the user task. This tutorial introduces to the topic by presenting the state of the art in multimodal capturing technologies, the techniques for the analysis based on machine learning (dimensional reduction, HMM and Neural Networks) and the descriptors for the evaluation of a skilled performance. The practical part of the tutorial is supported by examples in MATLAB, Simulink and additional Python libraries.
Researchers who want to get up to speed with the major tools for indexing and processing large motion-capture databases. Also practitioners who want a concise, intuitive overview of the state of the art.
- Carlo A. Avizzano, PERCRO, Scuola Superiore S.Anna, Pisa, Italy
- Emanuele Ruffaldi, PERCRO, Scuola Superiore S.Anna, Pisa, Italy
Carlo Alberto Avizzano is Assistant Professor of Mechatronics at University of Pisa and Researcher on Control and Automation at SSSA since 2003. Carlo Alberto Avizzano is currently the scientific responsible of research at PERCRO (PERCeptual RObotics) Laboratory of Scuola Superiore Sant'Anna, Pisa - Italy, directed by prof. Massimo Bergamasco. At present, he has authored. co-authored more than 70 scientific papers in the field of haptics, control, robotics and virtual reality. Carlo Alberto Avizzano is the technical responsible of the SKILLS IP for PERCRO, in which is coordinating the research on the digital encoding of Skills and the demonstration activities. http://www.percro.org/
Emanuele Ruffaldi is Assistant Professor at Scuola Superiore Sant'Anna,Pisa in Applied Mechanics in which he obtained his PhD in 2006 discussing a thesis on perceptually inspired Haptic Algorithms. He is member of the research division VRTS "Virtual Reality & Telerobotic Systems" at PERCRO (PERCeptual RObotics) Laboratory of Scuola Superiore Sant'Anna, directed by prof. Massimo Bergamasco. Emanuele has been the author of more than 15 papers published on International Journals and proceedings of scientific workshops. The main project in which he is currently involved is the SKILLS IP, aimed to capture and transfer human skills. His research interests are in the field of haptics, human gesture analysis and system integration for virtual reality applications. He is currently involved in the design of the Multimodal Database System for the management of Skills. http://www.teslacore.it/
Luis Unzueta Irurtia is a researcher of CEIT in Applied Mechanics and a PhD Student of Tecnun, University of Navarra. Luis has been the author of more than 10 papers published on International Journals and proceedings in scientific workshops. The main project in which he is currently involved is the SKILLS IP, aimed to capture and transfer human skills. His research interests are in the field of markerless human full-body motion capture, inverse kinematics and human action identification for human-machine interaction.
FundingWe thank the EU-funded SKILLS (FP6-IST-2005-035005-IP) for support.