Composition of Dynamical Systems for Estimation of Human Body Dynamics
Sumitra Ganesh, Aaron Ames, Ruzena Bajcsy

Citation
Sumitra Ganesh, Aaron Ames, Ruzena Bajcsy. "Composition of Dynamical Systems for Estimation of Human Body Dynamics". Proceedings of 10th International Conference on Hybrid Systems Computation and Control 2007, Alberto Bemporad, Antonio Bicchi, Giorgio Buttazzo (eds.), 702-706, April, 2007.

Abstract
This paper addresses the problem of estimating human body dynamics from 3-D visual data. That is, our goal is to estimate the state of the system, joint angle trajectories and velocities, and the control required to produce the observed motion from indirect noisy measurements of the joint angles. For a two-link chain in the human body, we show how two independent spherical pendulums can be \emph{composed} to create a behaviorally equivalent double spherical pendulum. Therefore, the estimation problem can be solved in parallel for the low-dimensional spherical pendulum systems and the composition result can be used to arrive at estimates for the higher dimensional double spherical pendulum system. We demonstrate our methods on motion capture data of human arm motion.

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• HTML

  Sumitra Ganesh, Aaron Ames, Ruzena Bajcsy. <a
  href="http://chess.eecs.berkeley.edu/pubs/246.html"
  >Composition of Dynamical Systems for Estimation of Human
  Body Dynamics</a>, Proceedings of 10th International
  Conference on Hybrid Systems Computation and Control 2007,
  Alberto Bemporad, Antonio Bicchi, Giorgio Buttazzo (eds.),
  702-706, April, 2007.

• Plain text

  Sumitra Ganesh, Aaron Ames, Ruzena Bajcsy. "Composition
  of Dynamical Systems for Estimation of Human Body
  Dynamics". Proceedings of 10th International Conference
  on Hybrid Systems Computation and Control 2007, Alberto
  Bemporad, Antonio Bicchi, Giorgio Buttazzo (eds.), 702-706,
  April, 2007.

• BibTeX

  @inproceedings{GaneshAmesBajcsy07_CompositionOfDynamicalSystemsForEstimationOfHumanBody,
      author = {Sumitra Ganesh and Aaron Ames and Ruzena Bajcsy},
      title = {Composition of Dynamical Systems for Estimation of
                Human Body Dynamics},
      booktitle = {Proceedings of 10th International Conference on
                Hybrid Systems Computation and Control 2007},
      editor = {Alberto Bemporad, Antonio Bicchi, Giorgio Buttazzo},
      pages = {702-706},
      month = {April},
      year = {2007},
      abstract = {This paper addresses the problem of estimating
                human body dynamics from 3-D visual data. That is,
                our goal is to estimate the state of the system,
                joint angle trajectories and velocities, and the
                control required to produce the observed motion
                from indirect noisy measurements of the joint
                angles. For a two-link chain in the human body, we
                show how two independent spherical pendulums can
                be \emph{composed} to create a behaviorally
                equivalent double spherical pendulum. Therefore,
                the estimation problem can be solved in parallel
                for the low-dimensional spherical pendulum systems
                and the composition result can be used to arrive
                at estimates for the higher dimensional double
                spherical pendulum system. We demonstrate our
                methods on motion capture data of human arm
                motion. },
      URL = {http://chess.eecs.berkeley.edu/pubs/246.html}
  }
  

Posted by Sumitra Ganesh on 14 May 2007.
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