2A1-A26 特異値分解を用いた非周期動作における運動特徴の解析 2A1-A26 Analysis of characteristic motion of non-periodic behavior using singular value decomposition
We proposed a method to extract similarities and differences of human behavior using singular value decomposition. It was proved that the proposed method is able to extract some characteristic motion patterns from periodic behavior. This paper reports similarities and differences of non-periodic human behavior, such as loading motion, which are extracted by the proposed method. Instead of using Euler angles, unit quaternion is adopted for attitude representation to avoid singularity. However, it is difficult to analyze the characteristic motion patterns represented by unit quaternion. The method to analyze the extracted characteristic motion is reported in this paper. Discussions on these results are also reported.
ロボティクス・メカトロニクス講演会講演概要集 2010(0), _2A1-A26_1-_2A1-A26_4, 2010