Open Access. Powered by Scholars. Published by Universities.®
Social and Behavioral Sciences Commons™
Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 2 of 2
Full-Text Articles in Social and Behavioral Sciences
Humanoid Human-Like Reaching Control Based On Movement Primitives, Minh Tuan Tran, Philippe Souères, Michel Taix, Manish Sreenivasa, Christophe Halgand
Humanoid Human-Like Reaching Control Based On Movement Primitives, Minh Tuan Tran, Philippe Souères, Michel Taix, Manish Sreenivasa, Christophe Halgand
Faculty of Engineering and Information Sciences - Papers: Part B
This paper deals with the problem of generating realistic human-like reaching movements from a small set of movement primitives. Two kinds of movement databases are used as reference. The first one is obtained numerically, by applying biological principles of motor control on the dynamic model of the robot arm. The second one is obtained by recording reaching movements of human subjects. From these databases, primitives are extracted and analyzed by using Principal Component Analysis. An original generalization method is then proposed for generating movements that did not belong to the initial database. We show that twenty primitives allow to produce …
On Using Human Movement Invariants To Generate Target-Driven Anthropomorphic Locomotion, Manish Sreenivasa, Philippe Souères, Jean-Paul Laumond
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 …