273,308 research outputs found
On least-cost path for realistic simulation of human motion
We are interested in "human-like" automatic motion simulation with applications in ergonomics.
The apparent redundancy of the humanoid wrt its explicit tasks leads to the problem of choosing a plausible movement in the framework of redundant kinematics.
Some results have been obtained in the human motion literature for reach motion that involves the position of the hands. We discuss these results and a motion generation scheme associated. When orientation is also explicitly required, very few works are available and even the methods for analysis are not defined.
We discuss the choice for metrics adapted to the orientation, and also the problems encountered in defining a proper metric in both position and orientation. Motion capture and simulations are provided in both cases.
The main goals of this paper are: to provide a survey on human motion features at task level for both position and orientation, to propose a kinematic control scheme based on these features, to define properly the error between motion capture and automatic motion simulation
Search-based Motion Planning for Aggressive Flight in SE(3)
Quadrotors with large thrust-to-weight ratios are able to track aggressive
trajectories with sharp turns and high accelerations. In this work, we develop
a search-based trajectory planning approach that exploits the quadrotor
maneuverability to generate sequences of motion primitives in cluttered
environments. We model the quadrotor body as an ellipsoid and compute its
flight attitude along trajectories in order to check for collisions against
obstacles. The ellipsoid model allows the quadrotor to pass through gaps that
are smaller than its diameter with non-zero pitch or roll angles. Without any
prior information about the location of gaps and associated attitude
constraints, our algorithm is able to find a safe and optimal trajectory that
guides the robot to its goal as fast as possible. To accelerate planning, we
first perform a lower dimensional search and use it as a heuristic to guide the
generation of a final dynamically feasible trajectory. We analyze critical
discretization parameters of motion primitive planning and demonstrate the
feasibility of the generated trajectories in various simulations and real-world
experiments.Comment: 8 pages, submitted to RAL and ICRA 201
On geodesic paths and least-cost motions for human-like tasks
We are interested in ”human-like” automatic mo- tion generation. The apparent redundancy of the humanoid wrt its explicit tasks lead to the problem of choosing a plausible movement in the framework of redundant kinematics. Some results have been obtained in the human motion literature for reach motion that involves the position of the hands. We discuss these results and a motion generation scheme associated. When orientation is also explicitly required, very few works are available and even the methods for analysis are not defined. We discuss the choice for metrics adapted to the orientation, and also the problems encountered in defining a proper metric in both position and orientation. Motion capture and simulations are provided in both cases. The main goals of this paper are : - to provide a survey on human motion features at task level for both position and orientation,
- to propose a kinematic control scheme based on these features
- to define properly the error between motion capture and automatic motion simulation
Discontinuous Molecular Dynamics for Semi-Flexible and Rigid Bodies
A general framework for performing event-driven simulations of systems with
semi-flexible or rigid bodies interacting under impulsive torques and forces is
outlined. Two different approaches are presented. In the first, the dynamics
and interaction rules are derived from Lagrangian mechanics in the presence of
constraints. This approach is most suitable when the body is composed of
relatively few point masses or is semi-flexible. In the second method, the
equations of rigid bodies are used to derive explicit analytical expressions
for the free evolution of arbitrary rigid molecules and to construct a simple
scheme for computing interaction rules. Efficient algorithms for the search for
the times of interaction events are designed in this context, and the handling
of missed interaction events is discussed.Comment: 16 pages, double column revte
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