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Communication Dans Un Congrès Année : 2012

A singular value approach for humanoid motion analysis and simulation

Résumé

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.
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hal-04041434 , version 1 (22-03-2023)

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Adrien Datas, Pascale Chiron, Jean-Yves Fourquet. A singular value approach for humanoid motion analysis and simulation. 12th International Conference on Control, Automation, Robotics and Vision (ICARCV 2012), Dec 2012, Canton, China. pp.0, ⟨10.1109/ICARCV.2012.6485377⟩. ⟨hal-04041434⟩
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