相关论文: Rational Linkages: From Poses to 3D-printed Protot…

This paper focuses on geometric methods for generating rational motions used in the design of single-loop rational linkages, 1-degree-of-freedom mechanisms that can execute prescribed spatial tasks. Building on established rational motion…

We propose a real-time 3D human pose estimation and motion analysis method termed RePose for rehabilitation training. It is capable of real-time monitoring and evaluation of patients'motion during rehabilitation, providing immediate…

We use the recently introduced factorization theory of motion polynomials over the dual quaternions for the synthesis of closed kinematic loops with six revolute joints that visit four prescribed poses. Our approach admits either no or a…

We present two methods to interpolate between two given rigid body displacements. Both are based on linear interpolation in the ambient space of well-known curved point models for the group of rigid body displacements. The resulting motions…

Recent advances in multi-modal large language models (MLLMs) and chain-of-thought (CoT) reasoning have led to significant progress in image and text generation tasks. However, the field of 3D human pose generation still faces critical…

This study presents a set of algorithms that deal with trajectory planning of rational single-loop mechanisms with one degree of freedom (DoF). Benefiting from a dual quaternion representation of a rational motion, a formula for direct…

In this paper, we introduce LINKS, a dataset of 100 million one degree of freedom planar linkage mechanisms and 1.1 billion coupler curves, which is more than 1000 times larger than any existing database of planar mechanisms and is not…

The adoption of detailed mechanisms for chemical kinetics often poses two types of severe challenges: First, the number of degrees of freedom is large; and second, the dynamics is characterized by widely disparate time scales. As a result,…

We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…

As collaborative robots move closer to human environments, motion generation and reactive planning strategies that allow for elaborate task execution with minimal easy-to-implement guidance whilst coping with changes in the environment is…

In this paper, we formulate the problem of kinematic synthesis for planar linkages as a cross-domain image generation task. We develop a planar linkages dataset using RGB image representations, covering a range of mechanisms: from simple…

We present a novel method for estimation of 3D human poses from a multi-camera setup, employing distributed smart edge sensors coupled with a backend through a semantic feedback loop. 2D joint detection for each camera view is performed…

This paper describes a pipeline built with open source tools for interpolating 3D facial expressions taken from images. The presented approach allows anyone to create 3D face animations from 2 input photos: one from the start face…

Estimating 3D human poses from video is a challenging problem. The lack of 3D human pose annotations is a major obstacle for supervised training and for generalization to unseen datasets. In this work, we address this problem by proposing a…

This paper presents a motion analysis framework for an athlete wearing sport-specific flexible prosthesis based on the soft-rigid hybrid-link system. Such a motion analysis is a challenging problem because we need to consider the…

We use the recently introduced factorization of motion polynomials for constructing overconstrained spatial linkages with a straight line trajectory. Unlike previous examples, the end-effector motion is not translational and the link graph…

This paper presents a method of computing free motions of a planar assembly of rigid bodies connected by loose joints. Joints are modeled using local distance constraints, which are then linearized with respect to configuration space…

Estimating 3D human pose and shape from a single image is highly under-constrained. To address this ambiguity, we propose a novel prior, namely kinematic dictionary, which explicitly regularizes the solution space of relative 3D rotations…

We study how to synthesize novel views of human body from a single image. Though recent deep learning based methods work well for rigid objects, they often fail on objects with large articulation, like human bodies. The core step of…

According to the topological design theory and method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper design a novel 3-translation (3T) PM that has three advantages, i.e., 1) it…