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An SVD approach to reaching tasks based on cartesian geodesics

Datas, Adrien and Chiron, Pascale and Fourquet, Jean-Yves An SVD approach to reaching tasks based on cartesian geodesics. (2013) Computer Methods in Biomechanics and Biomedical Engineering, 16 (1). 63-65. ISSN 1025-5842

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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. The ideas are tested on sitting reach motions, for both translations and rotations task components.

Item Type:Article
Additional Information:Thanks to Taylor & Francis editor. The definitive version is available at : http://www.tandfonline.com/doi/full/10.1080/10255842.2013.815926
HAL Id:hal-00881051
Audience (journal):International peer-reviewed journal
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
Laboratory name:
Deposited On:18 Sep 2013 06:58

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