Matrix animation and polar decomposition
Proceedings of the conference on Graphics interface '92
Efficient generation of motion transitions using spacetime constraints
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Direct manipulation for comprehensible, predictable and controllable user interfaces
Proceedings of the 2nd international conference on Intelligent user interfaces
Retargetting motion to new characters
Proceedings of the 25th annual conference on Computer graphics and interactive techniques
A hierarchical approach to interactive motion editing for human-like figures
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Synthesizing animations of human manipulation tasks
ACM SIGGRAPH 2004 Papers
Three-dimensional Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics
International Journal of Robotics Research
Task-specific generalization of discrete and periodic dynamic movement primitives
IEEE Transactions on Robotics
Reactive path deformation for nonholonomic mobile robots
IEEE Transactions on Robotics
Natural motion animation through constraining and deconstraining at will
IEEE Transactions on Visualization and Computer Graphics
IEEE Transactions on Robotics
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We propose a method to deform robot trajectories based on affine transformations. At the heart of our approach is the concept of affine invariance: trajectories are deformed in order to avoid unexpected obstacles or to attain new goals but, at the same time, certain precise features of the original motions are preserved. Such features include for instance trajectory smoothness, periodicity, affine velocity, or more generally, all affine-invariant features, which are of particular importance in human-centered applications. Furthermore, the proposed method is very efficient and easy to implement: there is no need to re-integrate even a part of the trajectory and, in most cases, closed-form solutions can be worked out. The method is also versatile: optimization of geometric and dynamics parameters or satisfaction of inequality constraints can be taken into account in a very natural way. As illustration, we present a method for transferring human motions to humanoid robots while preserving equiaffine velocity. Building on the presented affine deformation framework, we finally revisit the concept of trajectory redundancy from the viewpoint of group theory.