Relevant bibliographies by topics / Whole-Body motion optimization

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  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers

Academic literature on the topic 'Whole-Body motion optimization'

Author: Grafiati
Published: 8 June 2024
Last updated: 31 July 2025

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Journal articles on the topic "Whole-Body motion optimization"

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Stein, Kevin, and Katja Mombaur. "Whole-Body Dynamic Analysis of Challenging Slackline Jumping." Applied Sciences 10, no. 3 (2020): 1094. http://dx.doi.org/10.3390/app10031094.

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Maintaining balance on a slackline is a challenging task in itself. Walking on a high line, jumping and performing twists or somersaults seems nearly impossible. Contact forces are essential to understanding how humans maintain balance in such challenging situations, but they cannot always be measured directly. Therefore, we propose a contact model for slackline balancing that includes the interaction forces and torques as well as the position of the Center of Pressure. We apply this model within an optimization framework to perform a fully dynamic motion reconstruction of a jump with a rotati
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KIM, JUNG-YUP, and YOUNG-SEOG KIM. "WHOLE-BODY MOTION GENERATION OF ANDROID ROBOT USING MOTION CAPTURE AND NONLINEAR CONSTRAINED OPTIMIZATION." International Journal of Humanoid Robotics 10, no. 02 (2013): 1350003. http://dx.doi.org/10.1142/s0219843613500035.

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This paper describes a whole-body motion generation scheme for an android robot using motion capture and an optimization method. Android robots basically require human-like motions due to their human-like appearances. However, they have various limitations on joint angle, and joint velocity as well as different numbers of joints and dimensions compared to humans. Because of these limitations and differences, one appropriate approach is to use an optimization technique for the motion capture data. Another important issue in whole-body motion generation is the gimbal lock problem, where a degree
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Liu, Yaliang, Xuechao Chen, Zhangguo Yu, Haoxiang Qi, and Chuanku Yi. "Single Sequential Trajectory Optimization with Centroidal Dynamics and Whole-Body Kinematics for Vertical Jump of Humanoid Robot." Biomimetics 9, no. 5 (2024): 274. http://dx.doi.org/10.3390/biomimetics9050274.

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High vertical jumping motion, which enables a humanoid robot to leap over obstacles, is a direct reflection of its extreme motion capabilities. This article proposes a single sequential kino-dynamic trajectory optimization method to solve the whole-body motion trajectory for high vertical jumping motion. The trajectory optimization process is decomposed into two sequential optimization parts: optimization computation of centroidal dynamics and coherent whole-body kinematics. Both optimization problems converge on the common variables (the center of mass, momentum, and foot position) using cost
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Bian, Yuxuan, Ailing Zeng, Xuan Ju, et al. "MotionCraft: Crafting Whole-Body Motion with Plug-and-Play Multimodal Controls." Proceedings of the AAAI Conference on Artificial Intelligence 39, no. 2 (2025): 1880–88. https://doi.org/10.1609/aaai.v39i2.32183.

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Whole-body multimodal motion generation, controlled by text, speech, or music, has numerous applications including video generation and character animation. However, employing a unified model to process different condition modalities presents two main challenges: motion distribution drifts across different tasks (e.g., co-speech gestures and text-driven daily actions) and the complex optimization of mixed conditions with varying granularities (e.g., text and audio). In this paper, we propose MotionCraft, a unified diffusion transformer that crafts whole-body motion with plug-and-play multimoda
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Trivedi, Urvish, Redwan Alqasemi, and Rajiv Dubey. "CARRT—Motion Capture Data for Robotic Human Upper Body Model." Sensors 23, no. 20 (2023): 8354. http://dx.doi.org/10.3390/s23208354.

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In recent years, researchers have focused on analyzing humans’ daily living activities to study various performance metrics that humans subconsciously optimize while performing a particular task. In order to recreate these motions in robotic structures based on the human model, researchers developed a framework for robot motion planning which is able to use various optimization methods to replicate similar motions demonstrated by humans. As part of this process, it will be necessary to record the motions data of the human body and the objects involved in order to provide all the essential info
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Li, Jun, Haibo Gao, Yuhui Wan, et al. "Whole-Body Control for a Torque-Controlled Legged Mobile Manipulator." Actuators 11, no. 11 (2022): 304. http://dx.doi.org/10.3390/act11110304.

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The task of performing locomotion and manipulation simultaneously poses several scientific challenges, such as how to deal with the coupling effects between them and how to cope with unknown disturbances introduced by manipulation. This paper presents an inverse dynamics-based whole-body controller for a torque-controlled quadrupedal manipulator capable of performing locomotion while executing manipulation tasks. Unlike existing methods that deal with locomotion and manipulation separately, the proposed controller can handle them uniformly, which can take into account the coupling effects betw
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Wallmeier, Ludwig, and Lutz Wiegrebe. "Self-motion facilitates echo-acoustic orientation in humans." Royal Society Open Science 1, no. 3 (2014): 140185. http://dx.doi.org/10.1098/rsos.140185.

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The ability of blind humans to navigate complex environments through echolocation has received rapidly increasing scientific interest. However, technical limitations have precluded a formal quantification of the interplay between echolocation and self-motion. Here, we use a novel virtual echo-acoustic space technique to formally quantify the influence of self-motion on echo-acoustic orientation. We show that both the vestibular and proprioceptive components of self-motion contribute significantly to successful echo-acoustic orientation in humans: specifically, our results show that vestibular
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Murooka, Masaki, Kei Okada, and Masayuki Inaba. "Optimization-Based Posture Generation for Whole-Body Contact Motion by Contact Point Search on the Body Surface." IEEE Robotics and Automation Letters 5, no. 2 (2020): 2905–12. http://dx.doi.org/10.1109/lra.2020.2974689.

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Kim, Joo H. "Optimization of throwing motion planning for whole-body humanoid mechanism: Sidearm and maximum distance." Mechanism and Machine Theory 46, no. 4 (2011): 438–53. http://dx.doi.org/10.1016/j.mechmachtheory.2010.11.019.

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Tian, Yuan, and Feng Gao. "Efficient motion generation for a six-legged robot walking on irregular terrain via integrated foothold selection and optimization-based whole-body planning." Robotica 36, no. 3 (2017): 333–52. http://dx.doi.org/10.1017/s0263574717000418.

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SUMMARYIn this paper, an efficient motion planning method is proposed for a six-legged robot walking on irregular terrain. The method provides the robot with fast-generated free-gait motions to traverse the terrain with medium irregularities. We first of all introduce our six-legged robot with legs in parallel mechanism. After that, we decompose the motion planning problem into two main steps: first is the foothold selection based on a local footstep cost map, in which both terrain features and the robot mobility are considered; second is a whole-body configuration planner which casts the prob
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Dissertations / Theses on the topic "Whole-Body motion optimization"

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Gomes, Junior Waldez Azevedo. "Improving Ergonomics Through Physical Human-Robot Collaboration." Electronic Thesis or Diss., Université de Lorraine, 2021. http://www.theses.fr/2021LORR0208.

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Cette thèse vise à fournir des outils pour améliorer l'ergonomie dans les environnements de travail. Certaines activités dans l'industrie sont couramment exécutées par les travailleurs de manière non ergonomique, ce qui peut entraîner des troubles musculo-squelettiques à court ou à long terme. Les troubles musculo-squelettiques (TMS) liés au travail constituent un problème de santé majeur dans le monde entier, qui représente également des coûts importants pour la société et les entreprises. On sait que les TMS sont causées par de multiples facteurs, tels que des mouvements répétitifs, une forc
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Book chapters on the topic "Whole-Body motion optimization"

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Meng, Xiang, Zelin Huang, Qian Liang, et al. "Optimization of Whole-Body Motion for Humanoid Robot Walking Down Stairs with Small Joint Range of Motion." In Advances in Mechanism and Machine Science. Springer Nature Switzerland, 2023. http://dx.doi.org/10.1007/978-3-031-45770-8_85.

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Conference papers on the topic "Whole-Body motion optimization"

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Wu, Chengkai, Ruilin Wang, Mianzhi Song, Fei Gao, Jie Mei, and Boyu Zhou. "Real-time Whole-body Motion Planning for Mobile Manipulators Using Environment-adaptive Search and Spatial-temporal Optimization." In 2024 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2024. http://dx.doi.org/10.1109/icra57147.2024.10610192.

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Modugno, Valerio, Gabriele Nava, Daniele Pucci, Francesco Nori, Giuseppe Oriolo, and Serena Ivaldi. "Safe trajectory optimization for whole-body motion of humanoids." In 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids). IEEE, 2017. http://dx.doi.org/10.1109/humanoids.2017.8246958.

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Pösse, S., F. Büther, M. Schäfers, and KP Schäfers. "Optical Flow Parameter Optimization for Whole-body PET Motion Detection." In NuklearMedizin 2019. Georg Thieme Verlag KG, 2019. http://dx.doi.org/10.1055/s-0039-1683526.

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Posse, Stefanie, Florian Buther, Michael Schafers, and Klaus P. Schafers. "Optimization of Optical Flow Parameters for Whole-body PET Motion Correction." In 2018 IEEE Nuclear Science Symposium and Medical Imaging Conference (NSS/MIC). IEEE, 2018. http://dx.doi.org/10.1109/nssmic.2018.8824731.

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Kim, Joo H., Yujiang Xiang, Rajankumar Bhatt, et al. "Efficient ZMP Formulation and Effective Whole-Body Motion Generation for a Human-Like Mechanism." In ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/detc2008-49925.

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An approach of generating dynamic biped motions of a human-like mechanism is proposed. An alternative and efficient formulation of the Zero-Moment Point for dynamic balance and the approximated ground reaction forces/moments are derived from the resultant reaction loads, which includes the gravity, the externally applied loads, and the inertia. The optimization problem is formulated to address the redundancy of the human task, where the general biped and task-specific constraints are imposed depending on the task requirements. The proposed method is fully predictive and generates physically fe
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Li, Qi, Letian Qian, Peng Sun, and Xin Luo. "Energy-Efficient Dynamic Motion Planning of Quadruped Robots via Whole-body Nonlinear Trajectory Optimization." In 2022 IEEE International Conference on Mechatronics and Automation (ICMA). IEEE, 2022. http://dx.doi.org/10.1109/icma54519.2022.9855898.

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Xin, Xilong, Junyao Gao, Jingwei Cao, et al. "Whole body motion control strategy of humanoid robot based on double-layer quadratic optimization." In 2023 8th International Conference on Robotics and Automation Engineering (ICRAE). IEEE, 2023. http://dx.doi.org/10.1109/icrae59816.2023.10458483.

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Jin, Mingyue, Junyao Gao, Junhang Lai, et al. "Low-centroid Crawling Motion for Humanoid Robot Based on Whole-body Dynamics and Trajectory Optimization." In 2022 7th International Conference on Robotics and Automation Engineering (ICRAE). IEEE, 2022. http://dx.doi.org/10.1109/icrae56463.2022.10056163.

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Munaretto, Joseph M., Jill L. McNitt-Gray, and Henryk Flashner. "Experimentally Based Modeling of Whole Body Movement During Contact." In ASME 2008 International Mechanical Engineering Congress and Exposition. ASMEDC, 2008. http://dx.doi.org/10.1115/imece2008-67736.

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In this paper, we investigated how the assumption of fixed segment lengths in two dimensional whole body dynamic models limits accuracy in reproducing experimental reaction forces and observed kinematics. A six segment whole body dynamic model of the musculoskeletal system was developed to simulate the measured forces and kinematic data during the contact phase of two somersaulting tasks performed by two Olympic level divers. Initial conditions and foot-surface model parameters were refined using optimization to ensure that change in whole body center of mass (CM) linear and angular momenta sa
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Kim, Joo H., Karim Abdel-Malek, Yujiang Xiang, Jingzhou James Yang, and Jasbir S. Arora. "Motion Planning Under External Constraints for Redundant Dynamic Systems." In ASME 2010 Dynamic Systems and Control Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/dscc2010-4275.

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Dynamics of mechanical systems during motion usually involves reaction forces and moments due to the interaction with external objects or constraints from the environment. The problem of predicting the external reaction loads under rigid-body assumption has not been addressed extensively in the literature in terms of optimal motion planning and simulation. We propose a formulation of determining the external reaction loads for redundant systems motion planning. For dynamic equilibrium, the resultant reaction loads that include the effects of inertia, gravity, and general applied loads, are dis
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