NDLI: Incremental Motion Compression for Telepresent Walking Subject to Spatial Constraints

Content Provider	IEEE Xplore Digital Library
Author	Jianbo Su Zhiwei Luo
Copyright Year	2005
Description	Author affiliation: Department of Automation Shanghai Jiao Tong University Shanghai, 200030, China jbsu@sjtu.edu.cn (Jianbo Su)
Abstract	In telepresence, it is critical for the local user to control the remote agent’s movement through his own locomotion in order to ensure a high degree of realism. Since the local user’s environment is normally different from that of the remote agent, there exists a motion mapping from the remote agent to the local user. After the path of the remote agent is predicted or recognized, it should be transformed to fit into the local environment, considering the constraints from the local environment, and ensuring utmost similarities in the shape and length of the paths. Moreover, terminal position of the local user in the local environment after a piece of known movement should also be carefully arranged after path transformation for his consecutive motions. These issues are incrementally addressed from the optimization point of view. Two schemes are proposed for path transformation problem. Extensive simulations and comparisons show the feasibility and effectiveness of the proposed approaches.
Starting Page	69
Ending Page	74
File Size	420038
Page Count	6
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570098
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Mobile agents Robotics and automation Control systems Robust stability Tracking Adaptive systems Programmable control Adaptive control Automatic control path transformation Motion prediction telepresence motion compression optimization
Content Type	Text
Resource Type	Article

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