IEEE ICRA'07 Digest Template - PowerPoint PPT Presentation
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IEEE ICRA'07 Digest Template
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Title: IEEE ICRA'07 Digest Template Author: Ian Walker, Alessandro De Luca Last modified by: Daniel Raunhardt Created Date: 12/24/2006 8:46:17 AM Document ... – PowerPoint PPT presentation
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Title: IEEE ICRA'07 Digest Template
1
Progressive Clamping
Daniel Raunhardt and Ronan Boulic Ecole
Polytechnique Fédérale de Lausanne, Switzerland
- Modeling kinematic anisotropy of joint limits for
virtual mannequins or robots - Damps only the part of the motion by adding
highest priority constraints that brings a joint
towards its limit - Integration into a Prioritized Inverse Kinematics
solver
Example where the convergence to the final state
is faster with progressive clamping compared to
clamping
