Imitation of basic hand preshapes by fluid based method: fluidics formation control

Date

2011-01-01

Author

Tilki, Umut
Erkmen, İsmet
Erkmen, Aydan Müşerref

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

130
views

0
downloads

In this paper, a new approach is developed, avoiding the correspondence problem caused by the difference in embodiment between imitator and demonstrator in imitation learning. In our work, the imitator is a fluidic system of dynamics totally different than the imitatee, which is a human performing hand gestures. The fluidic system is composed of fluid particles, which are used for the discretization of the problem domain. In this work, we demonstrate the fluidics formation control so as to imitate by observation basic hand preshaping features. Our fluidic formation control is based on setting suitable parameters of Smoothed Particle Hydrodynamics (SPH), which is a particle based Lagrangian method, according to imitation learning. The fluid parameters adjusted by the fluidics imitation controller are body force (f), density and velocity of particles (V) so as to lead formations of fluidic swarms to human hand preshapes.

Subject Keywords

Multi-dynamics imitation, Robot grasping, Swarm formation, Robotics imitation, Imitation by swarm

URI

https://hdl.handle.net/11511/35292

Journal

TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES

DOI

https://doi.org/10.3906/elk-0911-282

Collections

Department of Electrical and Electronics Engineering, Article

Suggestions

OpenMETU
Core

Imitation of Basic Hand Preshapes by Fluid Based Method: Fluidic Formation Control Erkmen, Aydan Müşerref; Erkmen, İsmet (2009-11-05) In this paper, a new approach is developed handling the correspondence problem due to the difference in embodiment between imitator and demonstrator in imitation learning. In our work the imitator is a fluidic system of dynamics totally different than the demonstrator which is human hand gestures. In this work we demonstrate the fluidic formation control so as to generate basic hand preshaping features. Our fluidic formation control is based on Smoothed Particle Hydrodynamics (SPH), which is a particle base...
Imitation of human body poses and hand gestures using a particle based fluidics method Tilki, Umut; Erkmen, İsmet; Erkmen, Aydan Müşerref; Department of Electrical and Electronics Engineering (2012) In this thesis, a new approach is developed, avoiding the correspondence problem caused by the difference in embodiment between imitator and demonstrator in imitation learning. In our work, the imitator is a fluidic system of dynamics totally different than the imitatee, which is a human performing hand gestures and human body postures. The fluidic system is composed of fluid particles, which are used for the discretization of the problem domain. In this work, we demonstrate the fluidics formation control s...
Imitation of Hand Postures with Particle Based Fluidics Method Tilki, Umut; Erkmen, İsmet; Erkmen, Aydan Müşerref (2010-10-22) The correspondence problem is an important problem when the subjects have two different kinematical structures imitating each other. In this new approach, the imitator and the imitate have totally different dynamics systems, the first one is the fluidic system, the second one is the human hand gestures. The motion of the fluidic system is composed of the combination of fluid particles which are used for the discretization of the problem domain. Observed human hand gestures are imitated by these fluid partic...
Modeling of asymmetric intermodulation distortion and memory effects of power amplifiers Yüzer, Ahmet Hayrettin; Demir, Şimşek; Department of Electrical and Electronics Engineering (2011) This dissertation is focused on developing a new passband behavioral model in order to account for asymmetric intermodulation distortion resulted from memory effect. First, a measurement setup is prepared to measure the AM/AM, AM/PM distortion, magnitudes and the phases of intermodulation (IMD) and fundamental (FUND) components which are created by the amplifier where phase is calculated only by measuring magnitudes. Then, responses of a sample amplifier are measured for different excitation situations (cen...
Convergence of text and reader: a study of textual strategies and the formation of configurative meaning in selected works of fiction Shadi, Mehran; Sönmez, Margaret Jeanne M.; Department of English Literature (2018) In this study, first, the foundational developments in the domains of linguistics, philosophy of language and literary theory that have led to a transformation of the concept of the reader are reviewed closely. Then, to understand the nature of literary responses, an Interactionalist Model of Readership (IMR) is proposed to explore the two sides of the reader-text interaction and the nature of the final product of the reading act. Using various examples, the interaction between the text and the reader is, t...

Citation Formats

U. Tilki, İ. Erkmen, and A. M. Erkmen, “Imitation of basic hand preshapes by fluid based method: fluidics formation control,” TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES, pp. 221–234, 2011, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/35292.