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Lippi, Vittorio

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ARTICLES DE PERIODIQUES

Uncontrolled manifold and Juggling: Retrieving a set of Controlled Variables from Data

Lippi, Vittorio ; Ruffaldi, Emanuele ; Zélic, Gregory ; Lagarde, Julien ; Tripicchio, Paolo ; Avizzano, Carlo Alberto
The International Conference SKILLS, 2011

In this paper we analyze the concept of UnControlled Manifold (UCM), that consists in the kinematic variables that are not controlled by the user, being not relevant to the task. We proceed testing a set of controlled variables inspired by the literature about tracking task, then we propose a procedure to identify them on the basis of captured data.

We are interested in the analysis of behavior in a Virtual Environment and in the real world. In particular we analyze the three ball cascade juggling and its simulation through a platform named Light Weight Juggling focusing on the task of ball tossing.

Users arm kinematics is represented as a robotic manipulator with 7 degrees of freedom. Joint angles are retrieved through an optical tracking system. The variables controlled in the virtual environment are a subset of the ones controlled in the real world, that leads to an UM that differs from the one in the real world. A comparison between the statistics computed in the two cases is performed to explore behavioral differences in the two cases. [authors sumamry]
In this paper we analyze the concept of UnControlled Manifold (UCM), that consists in the kinematic variables that are not controlled by the user, being not relevant to the task. We proceed testing a set of controlled variables inspired by the literature about tracking task, then we propose a procedure to identify them on the basis of captured data.

We are interested in the analysis of behavior in a Virtual Environment and in the real world. In ...


Cote : 793.870 15 L765u 2011

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ETUDES, GUIDES ET RAPPORTS

Evaluation of the light weight juggling system

Lagarde, Julien ; Zélic, Gregory ; Avizzano, Carlo Alberto ; Lippi, Vittorio ; Ruffaldi, Emanuele
[France] : EDP Sciences, 2011

This paper presents the training of juggling skills, a highly complex problem of coordination, under tight time and space constraints. This training is achieved with a simple training platform, a light weight juggling platform (LWJ), and is compared to training with real balls. The principle directing the design of the platform is to obtain a simple tool. The simplification, in comparison to real world juggling, is based on the identification of invariant properties in the spatiotemporal coordination of intermediate and expert jugglers. Two classes training solutions were added to the LWJ: An audio-tactile pacing or augmented multimodal environment, and the manipulation of cognitive components of the juggling skills. The transfer to juggling with real balls was evaluated in four different experiments. [authors summary]
This paper presents the training of juggling skills, a highly complex problem of coordination, under tight time and space constraints. This training is achieved with a simple training platform, a light weight juggling platform (LWJ), and is compared to training with real balls. The principle directing the design of the platform is to obtain a simple tool. The simplification, in comparison to real world juggling, is based on the identification of ...


Cote : 793.870 15 L173e 2011

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ETUDES, GUIDES ET RAPPORTS

Filtering motion data through piecewise polynomial approximation

Lippi, Vittorio ; Avizzano, Carlo Alberto ; Ruffaldi, Emanuele
[France] : EDP Sciences, 2011

In this work we propose a system to filter human movement data and store them into a compact representation. We are interested both in noise reduction and in segmentation. The method described in this paper relies on a iterative optimization and guarantee to converge to a local optimum: it proved anyway to produce stable results and to provide an accurate segmentation on the analyzed data . We analyze the Three ball cascade Juggling as case study: This provides us the challenge to represent both low-pass dynamics of human limbs and juggled balls and the discontinuities produced by contact forces. [auhtors summary]
In this work we propose a system to filter human movement data and store them into a compact representation. We are interested both in noise reduction and in segmentation. The method described in this paper relies on a iterative optimization and guarantee to converge to a local optimum: it proved anyway to produce stable results and to provide an accurate segmentation on the analyzed data . We analyze the Three ball cascade Juggling as case ...


Cote : 793.870 15 L765f 2011

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