Reactive synthesizing of human locomotion combining nonholonomic and holonomic behaviors

@article{Truong2010ReactiveSO,
  title={Reactive synthesizing of human locomotion combining nonholonomic and holonomic behaviors},
  author={Tan-Viet-Anh Truong and David Flavigne and Julien Pettr{\'e} and Katja D. Mombaur and Jean-Paul Laumond},
  journal={2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics},
  year={2010},
  pages={632-637}
}
The trajectories of walking humans can be divided into two major classes: first, nonholonomic trajectories during which the orientation of the human body and the one of the motion are aligned (e.g., straight walking), and second, holonomic ones during which lateral velocities are observed (e.g., side-steps). The major contribution of this work is a general locomotion synthesis method for digital actors which enables combining nonholonomic and holonomic walk behaviors. Our motion synthesis… CONTINUE READING

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