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Motion constraint

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Abstract

In this paper, we propose a hybrid postural control approach taking advantage of data-driven and goal-oriented methods while overcoming their limitations. In particular, we take advantage of the latent space characterizing a given motion database. We introduce a motion constraint operating in the latent space to benefit from its much smaller dimension compared to the joint space. This allows its transparent integration into a Prioritized Inverse Kinematics framework. If its priority is high the constraint may restrict the solution to lie within the motion database space. We are more interested in the alternate case of an intermediate priority level that channels the postural control through a spatiotemporal pattern representative of the motion database while achieving a broader range of goals. We illustrate this concept with a sparse database of large range full-body reach motions.

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Authors and Affiliations

  1. Ecole Polytechnique Fédérale de Lousanne, VRLAB Station 14, 1015, Lausanne, Switzerland

    Daniel Raunhardt & Ronan Boulic

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  1. Daniel Raunhardt
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  2. Ronan Boulic
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Correspondence to Daniel Raunhardt.

Additional information

This work has been supported by the Swiss National Foundation under the grant N° 200020-117706.

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Raunhardt, D., Boulic, R. Motion constraint. Vis Comput 25, 509–518 (2009). https://doi.org/10.1007/s00371-009-0336-2

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  • DOI: https://doi.org/10.1007/s00371-009-0336-2

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