We present computational methods to extract and model different joints of a generic subject, in an automatic way. The input for our methods is simply a set of trajectories of 3D points, obtained from a motion capture system (MOCAP). Due to the piecewise rigidity of the skeleton, these trajectories belong to different subspaces (of the space of all possible trajectories). We use this knowledge t...

This paper proposes a new approach for motion retargetting i.e. adjusting motion-capture data to different characters and scenes. In chaise of achieving universality, the existing retargetting techniques often become absolutely impractical for most of real-life applications. In contrast, we did not try to create a technique that can deal with practically any motion, but concentrated on creating...

Motion of physical objects in the world is, in general, nonrigid. In robotics and computer vision, the motion of nonrigid objects is of growing interest to researchers from a wide spectrum of disciplines. The nonrigid objects being studied may be generally categorized into three groups according to the degree of deformation of body parts: articulated, elastic, and fluid. In articulated motion, ...

The ability to quantify and compare the movements of organisms is a central focus of many studies in biology, anthropology, biomechanics, and ergonomics. However, while the importance of functional motion analysis has long been acknowledged, quantitative methods for identifying differences in motion have not been widely developed. In this article, we present an approach to the functional analys...

In this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. Stability conditions are derived by studying unactuated dynamics and using the Poincaré map associated with periodic walking gaits. A stable gait is designed by an optimization process satisfying physical constraints and stability conditions. Also, considering...