Automated human motion in constrained environments

25/07/00


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Table of Contents

Automated human motion in constrained environments

Introduction

Path Planning

Application to Human Motion

Approach

Understanding RPP

Simplest “Planner”

Building a Potential Field

Gradient Descent

Local Minima

Deep Minimum Example

Smoothing

Modifications

Character Structure

Grasp Points

Grasp Invariants

Motion without Heuristics

Heuristic System

Implemented Heuristics

The Gait FSM

Complete System

More Results

Future Work

PPT Slide

Appendix

Alternate gradient descent view

Smoothing Algorithm

Need for Limb Smoothing

Limb Smoothing Solution

Implemented GFSM

Contributions

Author: Maciej Kalisiak

Email: mac@dgp.toronto.edu

Home Page: http://www.dgp.toronto.edu/~mac