Robust motion in-betweening

Robust Hybrid Motion Force Control Algorithm for Robot Manipulators

In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...

Robust Geometric Computing in Motion

Robust Periodic Motion and Motion Symmetry Detection

We describe a robust technique for detecting nonstationary periodic motion from a moving and static camera. We also describe a robust technique for discriminating motion symmetries (periodic motion classification), which we apply to classifying running humans (bipeds) and canines (quadrupeds). The system has been implemented to run in real-time (30 Hz) on standard PC workstations.

Robust ego-motion estimation

This paper aims to develop a simple algorithm for determining the direction of ego-motion of a monocular observer in a static environment. Rather than returning a single direction the algorithm returns a set of motion directions known to contain the true direct tion. Translational motion can be arbitrary. The algorithm is based on one invented by Horn and Weldon [1]. It uses only normal compone...

Robust structure from motion using motion parallax

We present an efficient and geometrically intuitive algorithm to reliably interpret the image velocities of moving objects in 3D. It is well known that under weak perspective the image motion of points on a plane can be characterised by an affine transformation. We show that the relative image motion of a nearby noncoplanar point and its projection on the plane is equivalent to motion parallax ...