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On Using Human Movement Invariants To Generate Target-Driven Anthropomorphic Locomotion, Manish Sreenivasa, Philippe Souères, Jean-Paul Laumond

Faculty of Engineering and Information Sciences - Papers: Part B

We present a method for generating anthropomorphic motion by studying `invariants' in human movements and applying them as kinematic tasks. We recorded whole-body motion of 14 participants during a walking and grasping task and performed a detailed analysis in order to synthesize the stereotypy in human motion as rules. We propose an algorithm that produces the key parameters of motion taking into account the knowledge from human movement, and the limitations of the anthropomorph. We generalize our results such that we can create motion parameters for objects which were not in the original protocol. The algorithmic output is applied in …