Behavior modeling in man-machine cooperative system based on stochastic switched dynamics

被引：3

作者：

Yamada, Naoyuki ^{[1
]}

Inagaki, Shinkichi ^{[1
]}

Suzuki, Tatsuya ^{[1
]}

Okuda, Hiroyuki ^{[2
]}

Hayakawa, Soichiro ^{[2
]}

Tsuchida, Nuio ^{[2
]}

机构：

[1] Nagoya Univ, Grad Sch Engn, Dept Engn Sci & Mech, Chikusa Ku, Furo Cho, Nagoya, Aichi, Japan

[2] Toyota Technol Inst, Tempaku Ku, Nagoya, Aichi, Japan

来源：

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年

关键词：

D O I：

10.1109/ROBOT.2006.1642254

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a new mathematical model for the human behavior called Stochastic Switched Linear Dynamical (SS-LD) model. The SS-LD model can be regarded as a natural extension of the conventional Hidden Markov Model (HMM), where different Linear Dynamical model is allocated to each discrete state of the HMM to represent continuous dynamics. Then, the parameter identification technique for SS-LD model is developed based on the EM algorithm. Finally, we apply the proposed behavior model to a typical man-machine cooperative system, and the usefulness of the proposed model is verified through some experiments.

引用

页码：3618 / +

页数：2

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