Techniques for Goal-Directed Motion

When motions of linkages such as the human body must be specified in terms of joint angle changes, considerable effort is required to acheive a particular goal. We review some techniques useful for the automatic generation of joint angle adjustments from a goal specified in terms of a world coordinate system. Disciplines Computer Engineering | Computer Sciences Comments University of Pennsylvania Department of Computer and Information Science Technical Report No. MSCIS-81-16. This technical report is available at ScholarlyCommons: http://repository.upenn.edu/cis_reports/1003 TechniGues for Goal-Directed Motion James U. Korein and Norman I. Badler DePt. of ComPuter and Information Science UniversitY of Pennsylvania

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