Deterministic learning with probabilistic analysis on human-robot shared contro

Document Type

Conference Proceeding

Date of Original Version



In this paper, we present a novel method for controlling an unmanned ground vehicle (UGV) by using a new machine learning technique, Deterministic Learning (DL). With DL the robot is able to learn and recognize four specifically designed body gestures, which represent four corresponding moving directions (i.e., left, right, forward, and backward) of the controlled UGV. A Kinect camera is employed to collect human body skeleton data of a user. Eight specifically-designed features are extracted and utilized to train radial basis function neural networks (RBFNNs). The dynamics of the human arm waving motion is guaranteed to be accurately identified, represented, and stored as an RBFNN model with converged constant NN weights, which facilitates rapid recognition in the online identification phase. However, learning time of and storage space of RBFNNs grow exponentially with the number of features. In order drastically reduce required computations and storage space, we propose to split the features in subgroups, and use each subgroup to learn a smaller independent. In the online identification phase, the trained RBFNNs are used to analyze and identify any new incoming gestures. The identification results of all RBFNNs are then fused together following a probabilistic approach, and the gestures of the user are interpreted as commands for the UGV.

Publication Title

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM