Kinematic driven by distances

Thibaut Le Naour 1 Nicolas Courty 2, 3 Sylvie Gibet 4
1 SEASIDE - SEarch, Analyze, Synthesize and Interact with Data Ecosystems
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, UBS - Université de Bretagne Sud
2 OBELIX - Environment observation with complex imagery
UBS - Université de Bretagne Sud, IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
3 PANAMA - Parcimonie et Nouveaux Algorithmes pour le Signal et la Modélisation Audio
Inria Rennes – Bretagne Atlantique , IRISA_D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
4 EXPRESSION - Expressiveness in Human Centered Data/Media
UBS - Université de Bretagne Sud, IRISA-D6 - MEDIA ET INTERACTIONS
Abstract : This paper deals with a new method for controlling kinematically articulated systems. Unlike traditional approaches, we pose the problem in a new distance space. We propose a novel distance-based formalization of kinematic control, and an optimization method for solving a set of classical for motion adaptation and inverse kinematics problems. The originality of the method lies also in the possibility to introduce distance constraints with priorities. The approach is validated by a set of experiments using several classical kinematic operations applied to motion control of articulated figures, and compared to other approaches by means of stability, convergence and performance issues.
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Thibaut Le Naour, Nicolas Courty, Sylvie Gibet. Kinematic driven by distances. 2018. ⟨hal-01838784⟩

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