Publication

Automatic derivation of curved human walking trajectories from synthetic vision

Daniel Thalmann, Ronan Boulic
1994
Conference Papers

Abstract

The scope of this paper is to propose a system for the automatic derivation of a human curved walking trajectory from the analysis provided by its synthetic vision module. The study context is a planar environment with still and sparse foothold locations. A general methodology associates the two low-level modules of vision and walking with a planification module which establishes the middle term path from the knowledge of the visualized environment. The planification is made under the constraint of minimizing the distance, the speed variation and the curvature cost. Moreover, the planification may trigger the alternate walking motion whenever the decreasing in curvature cost is higher than the associated increasing in speed variation cost due to the corresponding halt and restart. Finally, the characteristic of the next step location is derived in the context of a constant velocity walking motion along a circular trajectory

Official source

https://infoscience.epfl.ch/entities/publication/90e04035-270f-402c-b480-545335baae71

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Daniel Thalmann, Ronan Boulic
1994
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/90e04035-270f-402c-b480-545335baae71

About this result

Related concepts (26)

Walking

Walking (also known as ambulation) is one of the main gaits of terrestrial locomotion among legged animals. Walking is typically slower than running and other gaits. Walking is defined by an 'inverted pendulum' gait in which the body vaults over the stiff limb or limbs with each step. This applies regardless of the usable number of limbs—even arthropods, with six, eight, or more limbs, walk. In humans, walking has health benefits including improved mental health and reduced risk of cardiovascular disease and death.

Terrestrial locomotion

Terrestrial locomotion has evolved as animals adapted from aquatic to terrestrial environments. Locomotion on land raises different problems than that in water, with reduced friction being replaced by the increased effects of gravity. As viewed from evolutionary taxonomy, there are three basic forms of animal locomotion in the terrestrial environment: legged – moving by using appendages limbless locomotion – moving without legs, primarily using the body itself as a propulsive structure.

Circular motion

In physics, circular motion is a movement of an object along the circumference of a circle or rotation along a circular path. It can be uniform, with a constant angular rate of rotation and constant speed, or non-uniform with a changing rate of rotation. The rotation around a fixed axis of a three-dimensional body involves the circular motion of its parts. The equations of motion describe the movement of the center of mass of a body. In circular motion, the distance between the body and a fixed point on the surface remains the same.