Avatarposer: Articulated full-body pose tracking from sparse motion sensing
Abstract Today's Mixed Reality head-mounted displays track the user's head pose in world
space as well as the user's hands for interaction in both Augmented Reality and Virtual …
space as well as the user's hands for interaction in both Augmented Reality and Virtual …
MANIKIN: biomechanically accurate neural inverse kinematics for human motion estimation
Mixed Reality systems aim to estimate a user's full-body joint configurations from just the
pose of the end effectors, primarily head and hand poses. Existing methods often involve …
pose of the end effectors, primarily head and hand poses. Existing methods often involve …
[HTML][HTML] Machine learning-based framework for optimally solving the analytical inverse kinematics for redundant manipulators
Solving the analytical inverse kinematics (IK) of redundant manipulators in real time is a
difficult problem in robotics since its solution for a given target pose is not unique. Moreover …
difficult problem in robotics since its solution for a given target pose is not unique. Moreover …
Global Time-Varying Path Planning Method Based on Tunable Bezier Curves
L Jia, S Zeng, L Feng, B Lv, Z Yu, Y Huang - Applied Sciences, 2023 - mdpi.com
In this paper, a novel global time-varying path planning (GTVP) method is proposed. In the
method, real-time paths can be generated based on tunable Bezier curves, which can …
method, real-time paths can be generated based on tunable Bezier curves, which can …
Human-like redundancy resolution: an integrated inverse kinematics scheme for anthropomorphic manipulators with radial elbow offset
As a mimic of the human arm structure, anthropomorphic manipulators with radial elbow
offset (AMREO) are often deployed on humanoid service robots. However, the unique offset …
offset (AMREO) are often deployed on humanoid service robots. However, the unique offset …
Cppflow: Generative inverse kinematics for efficient and robust cartesian path planning
In this work we present CppFlow-a novel and performant planner for the Cartesian Path
Planning problem, which finds valid trajectories up to 129x faster than current methods …
Planning problem, which finds valid trajectories up to 129x faster than current methods …
Towards safe remote manipulation: User command adjustment based on risk prediction for dynamic obstacles
Real-time remote manipulation requires careful operations by a user to ensure the safety of
a robot, which is designed to follow user's commands, against dynamic obstacles. However …
a robot, which is designed to follow user's commands, against dynamic obstacles. However …
Obstacle-and Occlusion-Responsive Visual Tracking Control for Redundant Manipulators Using Reachability Measure
A vision system attached to a manipulator excels at tracing a moving target object while
effectively handling obstacles, overcoming limitations arising from the camera's confined …
effectively handling obstacles, overcoming limitations arising from the camera's confined …
EMSA-IK: a real-time evolutionary multi-objective semi-analytical inverse kinematics algorithm for redundant manipulators
Z Chen, K Min, X Fan, B Tu, F Ni, H Liu - Industrial Robot: the …, 2024 - emerald.com
Purpose This paper aims to propose a real-time evolutionary multi-objective semi-analytical
inverse kinematics (IK) algorithm (EMSA-IK) for solving the multi-objective IK of redundant …
inverse kinematics (IK) algorithm (EMSA-IK) for solving the multi-objective IK of redundant …
Whole-body inverse kinematics robust to base position control error in mobile manipulators
K Takeshita, T Yamamoto - Advanced Robotics, 2024 - Taylor & Francis
Mobile manipulators require whole-body inverse kinematics (IK), encompassing both the
mobile base and arm, to execute manipulation tasks. One of the challenges associated with …
mobile base and arm, to execute manipulation tasks. One of the challenges associated with …