Imitation of basic hand preshapes by fluid based method: Fluidic formation control

In this paper, a new approach is developed handling the correspondence problem due to the difference in embodiment between imitator and demonstrator in imitation learning. In our work the imitator is a fluidic system of dynamics totally different than the demonstrator which is human hand gestures. In this work we demonstrate the fluidic formation control so as to generate basic hand preshaping features. Our fluidic formation control is based on Smoothed Particle Hydrodynamics (SPH), which is a particle based lagrangian method. The controller adjusts fluid parameters such as body force (f), density and velocity of particles (V) to generate particle formation mimicking hand preshapes.