Related papers: SMPL-IK: Learned Morphology-Aware Inverse Kinemati…

Solving the analytical inverse kinematics (IK) of redundant manipulators in real time is a difficult problem in robotics since its solution for a given target pose is not unique. Moreover, choosing the optimal IK solution with respect to…

With new advancements in interaction techniques, character animation also requires new methods, to support fields such as robotics, and VR/AR. Interactive characters in such fields are becoming driven by AI which opens up the possibility of…

We describe the first method to automatically estimate the 3D pose of the human body as well as its 3D shape from a single unconstrained image. We estimate a full 3D mesh and show that 2D joints alone carry a surprising amount of…

Inverse Kinematics (IK) solves the problem of mapping from the Cartesian space to the joint configuration space of a robotic arm. It has a wide range of applications in areas such as computer graphics, protein structure prediction, and…

Calculating the inverse kinematics (IK) is a fundamental challenge in robotics. Compared to numerical or learning-based approaches, analytical IK provides higher efficiency and accuracy. However, existing analytical approaches are difficult…

This paper proposes a novel inverse kinematics (IK) solver of articulated robotic systems for path planning. IK is a traditional but essential problem for robot manipulation. Recently, data-driven methods have been proposed to quickly solve…

Many human pose estimation methods estimate Skinned Multi-Person Linear (SMPL) models and regress the human joints from these SMPL estimates. In this work, we show that the most widely used SMPL-to-joint linear layer (joint regressor) is…

Inverse kinematics (IK) is a core operation in animation, robotics, and biomechanics: given Cartesian constraints, recover joint rotations under a known kinematic tree. In many real-time human avatar pipelines, the available signal per…

Motion in-betweening is a crucial tool for animators, enabling intricate control over pose-level details in each keyframe. Recent machine learning solutions for motion in-betweening rely on complex models, incorporating skeleton-aware…

Existing Transformers for monocular 3D human shape and pose estimation typically have a quadratic computation and memory complexity with respect to the feature length, which hinders the exploitation of fine-grained information in…

For fully actuated rigid robots, kinematic inversion is a purely geometric problem, efficiently solved by closed-loop inverse kinematics (CLIK) schemes that compute joint configurations to position the robot body in space. For underactuated…

Recent advances in skeleton-based person re-identification (re-ID) obtain impressive performance via either hand-crafted skeleton descriptors or skeleton representation learning with deep learning paradigms. However, they typically require…

Independent Sign Language Recognition is a complex visual recognition problem that combines several challenging tasks of Computer Vision due to the necessity to exploit and fuse information from hand gestures, body features and facial…

The Skinned Multi-Person Linear (SMPL) model plays a crucial role in 3D human pose estimation, providing a streamlined yet effective representation of the human body. However, ensuring the validity of SMPL configurations during tasks such…

Parametric 3D human models such as SMPL have driven significant advances in human pose and shape estimation, yet their simplified kinematics limit biomechanical realism. The recently proposed SKEL model addresses this limitation by…

In various applications, such as virtual reality and gaming, simulating the deformation of soft tissues in the human body during interactions with external objects is essential. Traditionally, Finite Element Methods (FEM) have been employed…

Soft robotic manipulators provide numerous advantages over conventional rigid manipulators in fragile environments such as the marine environment. However, developing analytic inverse models necessary for shape, motion, and force control of…

This paper describes a new approach allowing the generation of a simplified Biped gait. This approach combines a classical dynamic modeling with an inverse kinematics' solver based on particle swarm optimization, PSO. First, an inverted…

Aligning multiple modalities in a latent space, such as images and texts, has shown to produce powerful semantic visual representations, fueling tasks like image captioning, text-to-image generation, or image grounding. In the context of…

In this paper, we highlight a critical yet often overlooked factor in most 3D human tasks, namely modeling complicated 3D human with with hand-held objects or loose-fitting clothing. It is known that the parameterized formulation of SMPL is…