251. An SVD approach to reaching tasks based on cartesian geodesics
- Author
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Pascale Chiron, Adrien Datas, Jean-Yves Fourquet, Laboratoire Génie de Production (LGP), Ecole Nationale d'Ingénieurs de Tarbes, Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE), and Institut National Polytechnique de Toulouse - INPT (FRANCE) more...
- Subjects
Kinematics ,Geodesic ,Rotation ,Computer science ,Movement ,0206 medical engineering ,Biomedical Engineering ,ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION ,Bioengineering ,02 engineering and technology ,Models, Biological ,Task (project management) ,law.invention ,03 medical and health sciences ,Motion ,0302 clinical medicine ,law ,Singular value decomposition ,Redundancy (engineering) ,Humans ,Computer vision ,Cartesian coordinate system ,Upper-limb ,ComputingMethodologies_COMPUTERGRAPHICS ,business.industry ,Work (physics) ,Reaching ,General Medicine ,Optimal control ,Modélisation et simulation ,020601 biomedical engineering ,[INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation ,Computer Science Applications ,Biomechanical Phenomena ,Human motion ,Human-Computer Interaction ,Joints ,Artificial intelligence ,business ,SVD ,Algorithm ,030217 neurology & neurosurgery ,Simulation - Abstract
International audience; 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. more...
- Published
- 2013
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