A Riemannian Take on Human Motion Analysis and Retargeting

Understand

Dynamic motions of humans and robots are widely driven by posture-dependent nonlinear interactions between their degrees of freedom.

• However, these dynamical effects remain mostly overlooked when studying the mechanisms of human movement generation.
• Inspired by recent works, we hypothesize that human motions are planned as sequences of geodesic synergies, and thus correspond to coordinated joint movements achieved with piecewise minimum energy.
• The underlying computational model is built on Riemannian geometry to account for the inertial characteristics of the body.