Table 1 - uploaded by Jean-Yves Fourquet
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... if varies linearly as a function of the time , the motion is a linear interpolation from to along the geodesic. This simple solution is the one provided by the slerp algorithm (Shoemake 1985) popularized with unit quaternions. It provides a constant velocity evolution on the geodesic. ...
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Citations
... Their model has 270 active DOFs. Similarly, Datas, Chiron, and Fourquet (2010) and Datas, Fourquet, and Chiron (2011) used a virtual human kinematic structure with 24 DOFs including rotations of the head, clavicles, shoulders, elbows, wrists, and bending of the vertebral column to simulate reaching movements to compare with human data. ...
... In this case, the subject did not follow the shortest path neither in Euclidean space nor in SO(3). This example, among others [30], illustrates that the spatial path of the hand in translation and in orientation exhibits different features, sometimes being the shortest in translation, sometimes following the geodesic in SO(3) and also, in certain cases, being far from the geodesics in both subspaces. ...
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.
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.
