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Adaptive locomotion on slopes and stairs using pelvic rotation

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Abstract

In this paper, we introduce a new online motion retargeting technique to generate natural locomotion of walking on slopes and stairs using only a single captured reference motion. An inverse-kinematics solver is developed to generate poses satisfying smooth trajectories of positional and rotational constraints for feet and hands. By considering the rotations of the pelvis and upper body, our technique is able to produce natural poses without knee-popping artifacts.

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Acknowledgments

Taesoo Kwon and Jinho Park are co-corresponding authors of this paper. This work was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT and Future Planning (NRF-2014R1A1A1038386) and by the Technology Innovation Program (ID: 10047078) funded by the Ministry of Trade, industry and Energy (MI, Korea).

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Authors and Affiliations

  1. Hanyang University, Seoul, Republic of Korea

    Taekgu Lee & Taesoo Kwon

  2. Soongsil University, Seoul, Republic of Korea

    Jinho Park

Authors
  1. Taekgu Lee
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  2. Jinho Park
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  3. Taesoo Kwon
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Correspondence to Taesoo Kwon.

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Lee, T., Park, J. & Kwon, T. Adaptive locomotion on slopes and stairs using pelvic rotation. Vis Comput 31, 873–881 (2015). https://doi.org/10.1007/s00371-015-1103-1

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