SO(3)上の動的逆運動学によるモデルベースリアルタイム動作追跡
Model-Based Real-Time Motion Tracking using Dynamical Inverse Kinematics on SO(3)
SO(3)上の距離測度を用いた微分運動学の積分により、人間やヒューマノイドの逆運動学をリアルタイムで解く手法を提案し、リャプノフ解析で収束を証明、動作追跡とリターゲティングで有効性を検証した。
著者: Lorenzo Rapetti, Yeshasvi Tirupachuri, Kourosh Darvish, Claudia Latella, Daniele Pucci
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
This paper contributes towards the development of motion tracking algorithms for time-critical applications, proposing an infrastructure for solving dynamically the inverse kinematics of highly articulate systems such as humans. We present a method based on the integration of differential kinematics using distance measurement on SO(3) for which the convergence is proved using Lyapunov analysis. An experimental scenario, where the motion of a human subject is tracked in static and dynamic configurations, is used to validate the inverse kinematics method performance on human and humanoid models. Moreover, the method is tested on a human-humanoid retargeting scenario, verifying the usability of the computed solution for real-time robotics applications. Our approach is evaluated both in terms of accuracy and computational load, and compared to iterative optimization algorithms.
