Real-time tracking of unconstrained full-body motion using Niching Swarm Filtering combined with local optimization

2011 ◽  
Author(s):  
Zheng Zhang ◽  
Hock Soon Seah
Keyword(s):  
Real Time ◽  
Local Optimization ◽  
Body Motion ◽  
Real Time Tracking ◽  
Full Body

GPU-Accelerated Real-Time Tracking of Full-Body Motion With Multi-Layer Search

2013 ◽  
Vol 15 (1) ◽  
pp. 106-119 ◽  
Author(s):  
Zheng Zhang ◽  
Hock Soon Seah ◽  
Chee Kwang Quah ◽  
Jixiang Sun
Keyword(s):  
Real Time ◽  
Body Motion ◽  
Real Time Tracking ◽  
Full Body

Real-Time Full Body Motion Control

2016 ◽  
pp. 1-25
Author(s):  
John Collomosse ◽  
Adrian Hilton
Keyword(s):  
Real Time ◽  
Motion Control ◽  
Body Motion ◽  
Full Body

scholarly journals Real-time full body motion imitation on the COMAN humanoid robot

Robotica ◽  
2014 ◽  
Vol 33 (5) ◽  
pp. 1049-1061 ◽  
Author(s):  
Andrej Gams ◽  
Jesse van den Kieboom ◽  
Florin Dzeladini ◽  
Aleš Ude ◽  
Auke Jan Ijspeert
Keyword(s):  
Real Time ◽  
Humanoid Robot ◽  
Center Of Mass ◽  
Stability Control ◽  
Body Motion ◽  
Support Vector ◽  
Time Motion ◽  
Vector Machines ◽  
On Line ◽  
Full Body

SUMMARYOn-line full body imitation with a humanoid robot standing on its own two feet requires simultaneously maintaining the balance and imitating the motion of the demonstrator. In this paper we present a method that allows real-time motion imitation while maintaining stability, based on prioritized task control. We also describe a method of modified prioritized kinematic control that constrains the imitated motion to preserve stability only when the robot would tip over, but does not alter the motions otherwise. To cope with the passive compliance of the robot, we show how to model the estimation of the center of mass of the robot using support vector machines. In the paper we give detailed description of all steps of the algorithm, essentially providing a tutorial on the implementation of kinematic stability control. We present the results on a child-sized humanoid robot called Compliant Humanoid Platform or COMAN. Our implementation shows reactive and stable on-line motion imitation of the humanoid robot.

scholarly journals Real-Time Full-Body Motion Capture from Video and IMUs

2017 ◽  
Author(s):  
Charles Malleson ◽  
Andrew Gilbert ◽  
Matthew Trumble ◽  
John Collomosse ◽  
Adrian Hilton ◽  
...  
Keyword(s):  
Real Time ◽  
Motion Capture ◽  
Body Motion ◽  
Full Body
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