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[058] Citation: B. Hannaford, P. Lee, 'Multi-Dimensional Hidden Markov Model of Telemanipulation Tasks with Varying Outcomes,'
Proceedings IEEE Intl. Conf. Systems Man and Cybernetics, Los Angeles, CA, Nov. 1990.
Abstract
Three multi-step teleoperation tasks were successfully modeled with a Hidden
Markov Model (HMM). The model was then used to correctly identify the sequence
of task progression from the recorded sensor data. Previous work with HMMs was
extended by the generalization of the model to encompass multidimensional sensor
signals consisting of a mix of force, torque, and position signals. The
addition of multi-dimensional sensor information significantly improved the
ability of the Viterbi decoding algorithm to identify the series of events.
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