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                <term xml:lang="en">Human motion</term>
                <term xml:lang="en">Redundancy</term>
                <term xml:lang="en">Kinematics</term>
                <term xml:lang="en">Singular value decomposition</term>
                <term xml:lang="en">Human motion simulation</term>
                <term xml:lang="en">Motion capture</term>
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              <p>We are interested in human motion characterization and automatic motion simulation. The apparent redun- dancy of the humanoid w.r.t its explicit tasks lead to the problem of choosing a plausible movement in the framework of redun- dant 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.</p>
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