retargeting
A technique that maps the motion trajectories of one subject onto another subject with different body proportions and joint structures. It is commonly used to transfer human motion into the joint space of a humanoid robot, requiring re-solving executable joint trajectories while preserving task semantics.
Timeline (last 90 days)
Retargeting refers to mapping the motion trajectory of one motion subject onto another subject with different body proportions and joint structures, here transferring from human motion to the joint space of a humanoid robot; because the number of degrees of freedom, link lengths, and joint limits are inconsistent, directly copying joint angles often causes the robot to self-intersect or lose balance.
Retargeting is the process of mapping human skeletal motion onto a robot with a different skeletal proportions and degree-of-freedom structure.
A common retargeting approach is to perform mapping in task space (end-effector positions) rather than joint space, or to solve for feasible joint trajectories through optimization methods.
All Facts (3)
Retargeting refers to mapping the motion trajectory of one motion subject onto another subject with different body proportions and joint structures, here transferring from human motion to the joint space of a humanoid robot; because the number of degrees of freedom, link lengths, and joint limits are inconsistent, directly copying joint angles often causes the robot to self-intersect or lose balance.
50%UnverifiedRetargeting is the process of mapping human skeletal motion onto a robot with a different skeletal proportions and degree-of-freedom structure.
50%UnverifiedA common retargeting approach is to perform mapping in task space (end-effector positions) rather than joint space, or to solve for feasible joint trajectories through optimization methods.
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