General representation of human demonstration using differential-geometry properties

This paper proposes a new demonstrated-trajectory modelling technique for human-skill representation based on differential-geometry properties. It satisfies three desirable criteria for generalization of the captured human trajectory for trajectory comparison and robot-command mapping. The important criteria are spatial independence, temporal independence, and suitability for similarity measurement. The differential geometry properties extracted for use are curvature and torsion which adequately describe the trajectory shape and fulfil the first two criteria. The last criterion is met by introducing a suitable form of model function derived from the curvature and torsion functions