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Anthropomorphic motion planning

Anthropomorphic motion planning. J. Pettré , J.P. Laumond, A motion capture based control-space approach for walking mannequins Computer Animation and Virtual Worlds , Vol. 16, 2006. C. Esteves , G. Arechavaleta , J. Pettré , J.P. Laumond,

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Anthropomorphic motion planning

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  1. Anthropomorphicmotion planning J. Pettré, J.P. Laumond, A motion capture basedcontrol-spaceapproach for walking mannequins Computer Animation and Virtual Worlds, Vol. 16, 2006. C. Esteves, G. Arechavaleta, J. Pettré, J.P. Laumond, Animation planning for virtual mannequins cooperation ACM Trans. on Graphics, Vol. 25, N°2, 2006. O. Kanoun, J.P. Laumond, E. Yoshida, Planning foot placements for a humanoid robot : a problem of inverse kinematics International Journal of RoboticsResearch, Vol. 30, N°4, 2011. M. Sreenivasa, P. Souères, J.P. Laumond, On usinghumanmovement invariants to generatetarget-drivenanthropomorphic locomotion, IEEE/RAS-EMBS International Conference on BiomedicalRobotics and Biomechatronics (BioRob), 2010.

  2. Anthropomorphic systems • Human body: • A highly redundant system • Locomotion: a underactuated system • Challenge: Whole body motion understanding

  3. Imitation-based locomotion • A velocity control space approach v w

  4. Imitation-based locomotion • A velocity control space approach • Imitation with motion capture

  5. Imitation-based locomotion • A velocity control space approach • Analyzis of motion capture in the joint space

  6. Imitation-based locomotion • A velocity control space approach • [video]

  7. Motion planning • Separate manipulation and locomotion

  8. Object motion: 6 dof Locomotion in the plane: 3 dimensions Motion planning • A 9-dimensional « piano mover » problem

  9. Motion planning • Step 1: Plan a collision-freepath for « cylinder + object »

  10. Motion planning • Step 2: Animate • locomotion dofswith locomotion controler • manipulation dofswith inverse kinematics

  11. Motion planning • Step 3: Removeresidual collision withmobilitydofs

  12. Motion planning

  13. Motion planning

  14. Motion planning

  15. Motion planning

  16. Motion planning • From to • Fromkinematicsto dynamics!

  17. Motion planning • [video] • Whyisdynamicssocritical?

  18. Motion planning • Iterativealgorithmbased on dynamical simulation

  19. Motion planning

  20. Anthropomorphic systems • Human body: • A highly redundant system • Locomotion: a underactuated system • Challenge: Whole body motion understanding • Do not separate arms from legs !

  21. Whole body motion planning • Problemstatement: graspingrequiresstepping

  22. Whole body motion planning • Taskfunctionapproach(see courses on redundantsystems)

  23. Whole body motion planning • Taskfunctionapproach

  24. Whole body motion planning • How to model stepping as a task?

  25. Whole body motion planning • Considerfootprints and robot as a virtualmanipulator

  26. Whole body motion planning • Considerfootprints and robot as a virtualmanipulator

  27. Whole body motion planning • Scenario: reach the ball

  28. Whole body motion planning • Scenario: reach the ball

  29. Whole body motion planning • Scenario: reach the ball

  30. Whole body motion planning • Scenario: reach the ball

  31. Whole body motion planning Grasp in front Graspbehind • The need of complementarymodels.

  32. Humanbehaviorbasedmodels • The need of complementarymodels.

  33. Humanbehaviorbasedmodels

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