Remazeilles, AnthonyRasines, IratiFernandez, AsierMcIntyre, JosephSilva, Manuel F.Luís Lima, JoséReis, Luís PauloSanfeliu, AlbertoTardioli, Danilo2024-07-242024-07-242020Remazeilles , A , Rasines , I , Fernandez , A & McIntyre , J 2020 , Human Manipulation Segmentation and Characterization Based on Instantaneous Work . in M F Silva , J Luís Lima , L P Reis , A Sanfeliu & D Tardioli (eds) , Robot 2019 : 4th Iberian Robotics Conference - Advances in Robotics . Advances in Intelligent Systems and Computing , vol. 1092 AISC , Springer , pp. 343-354 , 4th Iberian Robotics Conference, ROBOT 2019 , Porto , Portugal , 20/11/19 . https://doi.org/10.1007/978-3-030-35990-4_28conference97830303598982194-5357https://hdl.handle.net/11556/1724Publisher Copyright: © 2020, Springer Nature Switzerland AG.This paper is related to the observation of human operator manipulating objects for teaching a robot to reproduce the action. Assuming the robotic system is equipped with basic manipulation skills, we focus here on the automatic segmentation of the observed manipulation, for extracting the relevant key frames in which the manipulation is best described. The segmentation method proposed is based on the instantaneous work, and presents the advantage of not depending on the force and pose sensing locations. The proposed approach is experimented with two different manipulation skills, sliding and folding, under different settings.12enginfo:eu-repo/semantics/restrictedAccessconference output10.1007/978-3-030-35990-4_28Manipulation segmentationTeaching by demonstrationControl and Systems EngineeringGeneral Computer Sciencehttp://www.scopus.com/inward/record.url?scp=85082137099&partnerID=8YFLogxK