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A singular value approach for humanoid motion analysis and simulation

Datas, Adrien and Chiron, Pascale and Fourquet, Jean-Yves A singular value approach for humanoid motion analysis and simulation. (2012) In: 12th International Conference on Control, Automation, Robotics and Vision (ICARCV 2012), 5 December 2012 - 7 December 2012 (Guangzhou, China).

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We are interested in human motion characterization and automatic motion simulation. The apparent redundancy of the humanoid w.r.t its explicit tasks lead to the problem of choosing a plausible movement in the framework of redundant 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. The definitive version is available at http://ieeexplore.ieee.org/Xplore The original PDF of the article can be found at IEEE Xplore website : http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6485377&contentType=Conference+Publications&refinements%3D4280399264%26searchField%3DSearch_All%26queryText%3Dicarcv+2012
HAL Id:hal-04041434
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:10 Apr 2013 08:53

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