Abrupt motion tracking via nearest neighbor field driven stochastic sampling

Estimation of Full-Body Poses Using Only Five Inertial Sensors: An Eager or Lazy Learning Approach?

Human movement analysis has become easier with the wide availability of motion capture systems. Inertial sensing has made it possible to capture human motion without external infrastructure, therefore allowing measurements in any environment. As high-quality motion capture data is available in large quantities, this creates possibilities to further simplify hardware setups, by use of data-drive...

Existence and Measurability of the Solution of the Stochastic Differential Equations Driven by Fractional Brownian Motion

Fast Nearest Neighbor Search in SE(3) for Sampling-Based Motion Planning

Nearest neighbor searching is a fundamental building block of most sampling-based motion planners. We present a novel method for fast exact nearest neighbor searching in SE(3)—the 6 dimensional space that represents rotations and translations in 3 dimensions. SE(3) is commonly used when planning the motions of rigid body robots. Our approach starts by projecting a 4-dimensional cube onto the 3-...

Adaptive Voltage-based Control of Direct-drive Robots Driven by Permanent Magnet Synchronous Motors

Tracking control of the direct-drive robot manipulators in high-speed is a challenging problem. The Coriolis and centrifugal torques become dominant in the high-speed motion control. The dynamical model of the robotic system including the robot manipulator and actuators is highly nonlinear, heavily coupled, uncertain and computationally extensive in non-companion form. In order to overcome thes...

Refined Particle Swarm Intelligence Method for Abrupt Motion Tracking

Conventional tracking solutions are not feasible in handling abrupt motion as they are based on smooth motion assumption or an accurate motion model. Abrupt motion is not subject to motion continuity and smoothness. To assuage this, we deem tracking as an optimisation problem and propose a novel abrupt motion tracker that based on swarm intelligence the SwaTrack. Unlike existing swarm-based fil...