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Composition of Dynamical Systems for Estimation of Human Body Dynamics

Summary: Composition of Dynamical Systems for
Estimation of Human Body Dynamics
Sumitra Ganesh1
, Aaron D. Ames2
, and Ruzena Bajcsy1
Department of Electrical Engineering and Computer Sciences
University of California, Berkeley, CA 94720
Control and Dynamical Systems
California Institute of Technology, Pasadena, CA 91125
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 measure-
ments of the joint angles. For a two-link chain in the human body, we
show how two independent spherical pendulums can be composed to
create a behaviorally equivalent double spherical pendulum. Therefore,


Source: Ames, Aaron - Department of Mechanical Engineering, Texas A&M University


Collections: Engineering