Datas, Adrien and Chiron, Pascale and Fourquet, Jean-Yves On singular values decomposition and patterns for human motion analysis and simulation. (2012) In: 17th International Conference on Methods and Models in Automation and Robotics (MMAR), 27-30 Aug 2012, Miedzyzdroje, Poland .
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Official URL: http://dx.doi.org/10.1109/MMAR.2012.6347916
We are interested in human motion characterization and automatic motion simulation. The apparent redun- dancy of the humanoid w.r.t its explicit tasks lead to the problem of choosing a plausible movement in the framework of redun- dant kinematics. This work explores the intrinsic relationships between singular value decomposition at kinematic level and optimization principles at task level and joint level. Two task- based schemes devoted to simulation of human motion are then proposed and analyzed. These results are illustrated by motion captures, analyses and task-based simulations. Pattern of singular values serve as a basis for a discussion concerning the similarity of simulated and real motions.
|Item Type:||Conference or Workshop Item (Paper)|
|Additional Information:||Thanks to IEEE editor. This paper was published in Methods and Models in Automation and Robotics (MMAR), 2012 17th International Conference on, pp.33-39, 27-30 Aug. 2012 - The definitive version is available at http://dx.doi.org/10.1109/MMAR.2012.6347916 - ISBN: 978-1-4673-2123-5 6.|
|Audience (conference):||International conference proceedings|
|Institution:||Université de Toulouse > Institut National Polytechnique de Toulouse - INPT|
|Deposited By:||Pascale Chiron|
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