Motion planning and autonomy for virtual humans
ACM SIGGRAPH 2008 classes
ACM SIGGRAPH 2008 classes
Pivoting based manipulation by a humanoid robot
Autonomous Robots
A framework for planning comfortable and customizable motion of an assistive mobile robot
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
From human to humanoid locomotion--an inverse optimal control approach
Autonomous Robots
Modeling collision avoidance behavior for virtual humans
Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 2 - Volume 2
Comments on "an optimality principle governing human walking"
IEEE Transactions on Robotics
Comparative analysis of human motion trajectory prediction using minimum variance curvature
Proceedings of the 6th international conference on Human-robot interaction
Brief paper: The spring paradigm in tracking control of simple mechanical systems
Automatica (Journal of IFAC)
Biomechanically-inspired motion path editing
SCA '11 Proceedings of the 2011 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Optimal Control Models of Goal-oriented Human Locomotion
SIAM Journal on Control and Optimization
Integrated online localization and navigation for people with visual impairments using smart phones
ACM Transactions on Interactive Intelligent Systems (TiiS)
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In this paper, we investigate different possible strategies underlying the formation of human locomotor trajectories in goal-directed walking. Seven subjects were asked to walk within a motion capture facility from a fixed starting point and direction, and to cross over distant porches for which both position and direction in the room were changed over trials. Stereotyped trajectories were observed in the different subjects. The underlying idea to attack this question has been to relate this problem to an optimal control scheme: the trajectory is chosen according to some optimization principle. This is our basic starting assumption. The subject being viewed as a controlled system, we tried to identify several criteria that could be optimized. Is it the time to perform the trajectory? The length of the path? The minimum jerk along the path? We found that the variation (time derivative) of the curvature of the locomotor paths is minimized. Moreover, we show that the human locomotor trajectories are well approximated by the geodesics of a differential system minimizing the norm of the control. Such geodesics are made of arcs of clothoids. The clothoid or Cornu spiral is a curve, whose curvature grows with the distance from the origin.