We address the problem of motion planning for nonholonomic cooperating mobile robots manipulating and transporting objects while holding them in a stable grasp. We present a general approach for solving optimal control problems based on the calculus of variations. We specialize this approach to solving the motion planning problem and obtaining trajectories and actuator forces/torques for any ma...

In this paper we describe two methods for estimating the motion parameters of an image sequence. For a sequence of images, the global motion can be described by independent motion models. On the other hand, in a sequence there exist as many as pairwise relative motion constraints that can be solve for efficiently. In this paper we show how to linearly solve for consistent global motion models u...

This paper deals with the foundations of analytical dynamics. It obtains the explicit equations of motion for mechanical systems that are subjected to non-ideal holonomic and nonholonomic equality constraints. It provides an easy incorporation of such non-ideal constraints into the framework of Lagrangian dynamics. It bases its approach on a fundamental principle that includes non-ideal constra...

A method to determine constraints on translational and rotational motion of planar and 3-D objects from their contact geometry is presented. Translations are represented by spatial vectors and rotations by axes in space. For each of these, a geometric realization (Ma) of the space of motion parameters is created. Subspaces in Ma that represent the range of values of motion parameters that are `...

Our paper addresses the problem of enforcing constraints in human body tracking. A projection technique is derived to impose kinematic constraints on independent multi-body motion: we show that for small motions the multi-body articulated motion space can be approximated by a linear manifold estimated directly from the previous body pose. We propose a learning approach to model non-linear const...

We propose a position-based approach for largescale simulations of rigid bodies at interactive frame-rates. Our method solves positional constraints between rigid bodies and therefore integrates nicely with other position-based methods. Interaction of particles and rigid bodies through common constraints enables two-way coupling with deformables. The method exhibits exceptional performance and ...

AND

Neurons in sensory systems encode and transmit information about attributes of the environment. Much of the information transmitted by spiking neurons appears to be encoded in the rate at which they fire. This rate necessarily has a positive value. In this paper, the implication of this constraint for models of motion detection is examined. The detection of image motion is represented mathemati...

Obtaining high quality, realistic motions of articulated characters is both time-consuming and expensive, necessitating the development of easy-to-use and effective tools for motion editing and reuse. We propose a new simple technique for generating constrained variations of different lengths from an existing captured or otherwise animated motion. Our technique is applicable to textural motions...