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On least-cost path for realistic simulation of human motion

Datas, Adrien and Fourquet, Jean-Yves and Chiron, Pascale On least-cost path for realistic simulation of human motion. (2011) In: First International Symposium on Digital Human Modeling (DHM), 14-16 Jun 2011, Lyon, France .

(Document in English)

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We are interested in "human-like" automatic motion simulation with applications in ergonomics. The apparent redundancy of the humanoid wrt its explicit tasks leads 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 DHM 2011, First International Symposium on Digital Human Modeling, France, June 2011, ISBN 978-2-9539515-0-9
Audience (conference):International conference proceedings
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Institution:Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
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Deposited On:26 Mar 2012 09:37

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