Decomposition of human motion into dynamics-based primitives with application to drawing tasks

Authors:
Domitilla Del Vecchio;Richard M. Murray;Pietro Perona
Affiliations:
California Institute of Technology, 1200 E. California Boulevard, Mail Stop 107-81, Pasadena, CA 91125, USA;California Institute of Technology, 1200 E. California Boulevard, Mail Stop 107-81, Pasadena, CA 91125, USA;California Institute of Technology, 1200 E. California Boulevard, Mail Stop 107-81, Pasadena, CA 91125, USA
Venue:
Automatica (Journal of IFAC)
Year:
2003

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Abstract

Using tools from dynamical systems and systems identification, we develop a framework for the study of primitives for human motion, which we refer to as movemes. The objective is understanding human motion by decomposing it into a sequence of elementary building blocks that belong to a known alphabet of dynamical systems. We develop a segmentation and classification algorithm in order to reduce a complex activity into the sequence of movemes that have generated it. We test our ideas on data sampled from five human subjects who were drawing figures using a computer mouse. Our experiments show that we are able to distinguish between movemes and recognize them even when they take place in activities containing an unspecified number of movemes.