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Conference Papers Year : 2022

Simultaneous Action Recognition and Human Whole-Body Motion and Dynamics Prediction from Wearable Sensors

Abstract

This paper presents a novel approach to solve simultaneously the problems of human activity recognition and whole-body motion and dynamics prediction for real-time applications. Starting from the dynamics of human motion and motor system theory, the notion of mixture of experts from deep learning has been extended to address this problem. In the proposed approach, experts are modelled as a sequenceto-sequence recurrent neural networks (RNN) architecture. Experiments show the results of 66-DoF real-world human motion prediction and action recognition during different tasks like walking and rotating. The code associated with this paper is available at: github.com/ami-iit/paper_darvish_ 2022_humanoids_action-kindyn-predicition
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Dates and versions

hal-03945755 , version 1 (18-01-2023)

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Kourosh Darvish, Serena Ivaldi, Daniele Pucci. Simultaneous Action Recognition and Human Whole-Body Motion and Dynamics Prediction from Wearable Sensors. 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), Nov 2022, Ginowan, Japan. pp.488-495, ⟨10.1109/Humanoids53995.2022.10000122⟩. ⟨hal-03945755⟩
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