Human Motion Reconstruction by Direct Control of Marker Trajectories Export

@incollection{citeulike:6095118, abstract = {Understanding the basis of human movement and reproducing it in robotic environments is a compelling challenge that has engaged a multidisciplinary audience. In addressing this challenge, an important initial step involves reconstructing motion from experimental motion capture data. To this end we propose a new algorithm to reconstruct human motion from motion capture data through direct control of captured marker trajectories. This algorithm is based on a task/posture decomposition and prioritized control approach. This approach ensures smooth tracking of desired marker trajectories as well as the extraction of joint angles in real-time without the need for inverse kinematics. It also provides flexibility over traditional inverse kinematic approaches. Our algorithm was validated on a sequence of tai chi motions. The results demonstrate the efficacy of the direct marker control approach for motion reconstruction from experimental marker data.}, author = {Demircan, Emel and Sentis, Luis and Sapio, Vincent and Khatib, Oussama}, citeulike-article-id = {6095118}, citeulike-linkout-0 = {http://dx.doi.org/10.1007/978-1-4020-8600-7_28}, citeulike-linkout-1 = {http://www.springerlink.com/content/q57606t83qr0j052}, doi = {10.1007/978-1-4020-8600-7_28}, journal = {Advances in Robot Kinematics: Analysis and Design}, keywords = {motion-tracking, nsf}, pages = {263--272}, posted-at = {2009-11-10 15:39:49}, priority = {2}, title = {Human Motion Reconstruction by Direct Control of Marker Trajectories}, url = {http://dx.doi.org/10.1007/978-1-4020-8600-7_28}, year = {2008} }

TY - CHAP ID - citeulike:6095118 L3 - citeulike-article-id:6095118 N2 - Understanding the basis of human movement and reproducing it in robotic environments is a compelling challenge that has engaged a multidisciplinary audience. In addressing this challenge, an important initial step involves reconstructing motion from experimental motion capture data. To this end we propose a new algorithm to reconstruct human motion from motion capture data through direct control of captured marker trajectories. This algorithm is based on a task/posture decomposition and prioritized control approach. This approach ensures smooth tracking of desired marker trajectories as well as the extraction of joint angles in real-time without the need for inverse kinematics. It also provides flexibility over traditional inverse kinematic approaches. Our algorithm was validated on a sequence of tai chi motions. The results demonstrate the efficacy of the direct marker control approach for motion reconstruction from experimental marker data. JF - Advances in Robot Kinematics: Analysis and Design EP - 272 TI - Human Motion Reconstruction by Direct Control of Marker Trajectories SP - 263 KW - motion-tracking KW - nsf AU - Demircan, Emel AU - Sentis, Luis AU - Sapio, Vincent AU - Khatib, Oussama PY - 2008/// UR - http://dx.doi.org/10.1007/978-1-4020-8600-7_28 ER -