Planning of joint trajectories for humanoid robots using B-spline wavelets

Proceedings-IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2000, Pages 2223-2228

  Ude, Aleš ^a   Atkeson, Christopher G ^b,c   Riley, Marcia ^b,c  

^a JAPAN SCIENCE AND TECHNOLOGY AGENCY   (Japan)

^b Georgia Institute of Technology   (United States)

^c ADVANCED TELECOMMUNICATIONS RESEARCH INSTITUTE INTERNATIONAL   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

B-SPLINE WAVELETS; HUMAN MOTION INFORMATION; HUMAN MOVEMENTS; HUMANOID ROBOTS; OPTICAL TRACKING DEVICE;

KINEMATICS; LEARNING SYSTEMS; MOTION CONTROL; MOTION PLANNING; OPTIMIZATION; TRACKING (POSITION);

ANTHROPOMORPHIC ROBOTS;

EID: 0033692439     PISSN: 10504729     EISSN: None     Source Type: Journal    
DOI: 10.1109/ROBOT.2000.846358     Document Type: Article

References (12)

1. B. Bodenheimer and C. Rose. The process of motion capture: Dealing with the data. In Cornputer Animation and Sirnulation '97, Proc. Eurographics Workshop, pages 3-18. Budapest, Hungary, 1997. Springer Verlag.
2. T. Coleman, M. A. Branch, and A. Grace. Optirnization Toolbox User's Guide The Mathworks, Natick, MA, 1999.
3. M. Gleicher. Retargeting motion to new characters. In Coinputer Graphics, Proc. SIGGRAPH '98, pp. 33-42, 1998.
4. S. J. Gortler and M. F. Cohen. Hierarchical and variational geometric modeling with wavelets. In Proc. 1995 Syp. on Interactive 3D Graphics, pp. 35-42, Monterey, Califomia, 1995.
5. T. Lozano-Perez. Robot programming. Proc. IEEE, 71 (7):821-841, 1983.
6. R. M. Murray, Z. Li, and S. S Sastry. A Mathematical Introduction to Robotic Manipulation. CRC Press, Boca Raton. New York, 1994.
7. C. Rose, B. Guenter, B. Bodenheimer, and M. F. Cohen. Efficient generation of motion transitions using spacetime constraints. In Cornputer Graphics, Proc. SIGGRAPH '96. pp. 147-154, 1996.
8. E. J. Stollnitz, T. D. DeRose, and D. H Salesin. Wavefets for Computer Graphics: Theory and Applications. Morgan Kaufmann Publishers, San Francisco, 1996.
9. S. E. Thompson and R. V. Patel. Formulation of joint trajectories for industrial robots using B-splines. IEEE Trans. Industrial Electronics, 34(2): 192-1 99, 1987.
10. A. Ude. Robust estimation of human body kinematics from video. In Proc. IEEWRSJ Conf: Intelligent Robots and Systems, Kyongju, Korea, 1999.
11. A. Witkin and M. Kass. Spacetime constraints. In Coinputer Graphics, Proc. SIGGRAPH '88, pp. 159-168, 1988.
12. H. J. Woltring. A FORTRAN package for generalized, cross-validatory spline smoothing and differentiation. Advances in Engineering Software, 8(2):104-113, 1986.