IEEE ICRA'07 Digest Template

1
Progressive Clamping
Daniel Raunhardt and Ronan Boulic Ecole
Polytechnique Fédérale de Lausanne, Switzerland

• Modeling kinematic anisotropy of joint limits for
  virtual mannequins or robots
• Damps only the part of the motion by adding
  highest priority constraints that brings a joint
  towards its limit
• Integration into a Prioritized Inverse Kinematics
  solver

Example where the convergence to the final state
is faster with progressive clamping compared to
clamping