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On geodesic paths and least-cost motions for human-like tasks

Datas, Adrien and Chiron, Pascale and Fourquet, Jean-Yves On geodesic paths and least-cost motions for human-like tasks. (2010) In: 2010 IEEE International Conference on Robotics and Biomimetics (ROBIO), 14-18 Dec 2010, Tianjin, China .

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Official URL: http://dx.doi.org/10.1109/ROBIO.2010.5723467

Abstract

We are interested in ”human-like” automatic mo- tion generation. The apparent redundancy of the humanoid wrt its explicit tasks lead to the problem of choosing a plausible movement in the framework of redundant kinematics. Some results have been obtained in the human motion literature for reach motion that involves the position of the hands. We discuss these results and a motion generation scheme associated. When orientation is also explicitly required, very few works are available and even the methods for analysis are not defined. We discuss the choice for metrics adapted to the orientation, and also the problems encountered in defining a proper metric in both position and orientation. Motion capture and simulations are provided in both cases. The main goals of this paper are : - to provide a survey on human motion features at task level for both position and orientation, - to propose a kinematic control scheme based on these features - to define properly the error between motion capture and automatic motion simulation.

Item Type:Conference or Workshop Item (Paper)
Additional Information:This paper was published in Proceedings of IEEE international Conference on Robotics and Biomimetics (ROBIO, december 2010, ISBN 978-1-4244-9319-7
Audience (conference):International conference proceedings
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Institution: Université de Toulouse > Institut National Polytechnique de Toulouse - INPT
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Deposited By:Pascale Chiron

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