Skilled human full-body movements are often planned in a highly predictive manner. For example, during walking while reaching towards a goal object results in steps and body postures are adapted to the goal position already multiple steps before the goal contact. The realization of such highly predictive behaviors for humanoid robots is a challenge because standard approaches, such as optimal c...

A technique is presented for creating continuously parameterized classes of feasible system trajectories. These classes, which are useful for higher-level vehicle motion planners, follow directly from a small collection of userprovided example motions. A dynamically feasible trajectory interpolation algorithm generates a continuous family of vehicle maneuvers across a range of boundary conditio...

We present motion planning for dexterous manipulation by whole arm grasp system based on switching contact modes. Motion planning for such a system should consider changing dynamics and kinematics according to the contact modes. We systematize the properties of the manipulation system by taking account of contact dynamics and kinematics, and derive the conditions to be satisfied in motion plann...

Over the past decade, many fields of discovery have begun to use motion capture data, leading to an exponential growth in the size of motion databases. Querying, indexing and retrieving motion capture data has thus become a crucial problem for the accessibility and usability of such databases. Our aim is to make this approach feasible for virtual agents signing in French Sign Language, taking i...

The purpose of this study was to determine if a clinically feasible perimetric motion test utilizing random-dot kinematograms could identify glaucomatous visual field defects. Using a staircase procedure, an automated perimetric motion test and a larger foveally presented target were given to normal (n = 30), glaucoma suspects (n = 31) and primary open-angle glaucoma patients (n = 19). Motion t...

Beam tracking is the potentially most conformal motion mitigation technique in scanned ion beam therapy. For translational motion, beam tracking has been shown to be feasible precisely [1]. If rotational or even deformable motion is present, dose deposition changes even if beam tracking is applied because beam tracking adapts the Bragg peak position only. Dose deposition to other regions, mainl...

In this paper we examine a method to control the stepping motion of a paralyzed person suspended over a treadmill using a robot attached to the pelvis. A leg swing motion is created by moving the pelvis without contact with the legs. The problem is formulated as an optimal control problem for an underactuated articulated chain. The optimal control problem is converted into a discrete parameter ...

Determining optical flow, the pattern of apparent motion of objects caused by the relative motion between observer and objects in the scene, is a fundamental problem in computer vision. Given two images, goal is to compute the 2D motion field a projection of 3D velocities of surface points onto the imaging surface. Optical flow can be used in a wide range of higher level computer vision tasks, ...

This paper describes an underwater glider motion control system intended to enhance locomotive efficiency by reducing the energy expended by vehicle guidance and control. In previous work, the authors derived an approximate analytical expression for steady turning motion by applying regular perturbation theory to a sophisticated vehicle dynamic model. Using these steady turn solutions, includin...

Introduction Since the introduction of the intravoxel incoherent motion (IVIM) concept by Le Bihan [1], the cerebral applications of this technique have been sparse due to the limited SNR. However, MRI hardware development in general and increased main magnetic field strength specifically, could result in improved SNR and may justify a reassessment of IVIM imaging for non-invasive quantificatio...