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            <title xml:lang="en">Tasks prioritization for whole-body realtime imitation of human motion by humanoid robots</title>
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              <p>This paper deals with on-line motion imitation of a human being by a humanoid robot using inverse kinematics (IK). First, the human observed trajectories are scaled in order to match the robot geometric and kinematic description. Second, a task prioritization process is defined using both equality and minimized constraints in the robot IK model, with four tasks: balance management, end-effectors tracking, joint limits avoidance and staying close to the human joint trajectories. The method was validated using the humanoid robot NAO.</p>
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