| Autor: |
Rapetti, Lorenzo, Tirupachuri, Yeshasvi, Darvish, Kourosh, Latella, Claudia, Pucci, Daniele |
| Rok vydání: |
2019 |
| Předmět: |
|
| Druh dokumentu: |
Working Paper |
| DOI: |
10.3390/a13100266 |
| Popis: |
This paper contributes towards the development of motion tracking algorithms for time-critical applications, proposing an infrastructure for solving dynamically the inverse kinematics of highly articulate systems such as humans. We present a method based on the integration of differential kinematics using distance measurement on SO(3) for which the convergence is proved using Lyapunov analysis. An experimental scenario, where the motion of a human subject is tracked in static and dynamic configurations, is used to validate the inverse kinematics method performance on human and humanoid models. Moreover, the method is tested on a human-humanoid retargeting scenario, verifying the usability of the computed solution for real-time robotics applications. Our approach is evaluated both in terms of accuracy and computational load, and compared to iterative optimization algorithms. |
| Databáze: |
arXiv |
| Externí odkaz: |
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