A Framework for Recognizing Industrial Actions via Joint Angles - Archive ouverte HAL Access content directly
Preprints, Working Papers, ... (Preprint) Year : 2023

A Framework for Recognizing Industrial Actions via Joint Angles


This paper proposes a novel framework for recognizing industrial actions, in the perspective of human-robot collaboration. Given a one second long measure of the human's motion, the framework can determine his/her action. The originality lies in the use of joint angles, instead of Cartesian coordinates. This design choice makes the framework sensor agnostic and invariant to affine transformations and to anthropometric differences. On AnDy dataset, we outperform the state of art classifier. Furthermore, we show that our framework is effective with limited training data, that it is subject independent, and that it is compatible with robotic realtime constraints. In terms of methodology, the framework is an original synergy of two antithetical schools of thought: modelbased and data-based algorithms. Indeed, it is the cascade of an inverse kinematics estimator compliant with the International Society of Biomechanics recommendations, followed by a deep learning architecture based on Bidirectional Long Short Term Memory. We believe our work may pave the way to successful and fast action recognition with standard depth cameras, embedded on moving collaborative robots.
Fichier principal
Vignette du fichier
singh.pdf (675.53 Ko) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-03925161 , version 1 (05-01-2023)


  • HAL Id : hal-03925161 , version 1


Avinash Kumar Singh, Mohamed Adjel, Vincent Bonnet, Robin Passama, Andrea Cherubini. A Framework for Recognizing Industrial Actions via Joint Angles. 2023. ⟨hal-03925161⟩
114 View
159 Download


Gmail Facebook X LinkedIn More