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. 2015 Jun 9;9:3. doi: 10.3389/fnbot.2015.00003

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Copyright © 2015 Parisi, Weber and Wermter.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Representation of full-body movements from our action dataset. We estimate three centroids C₁ (green), C₂ (yellow) and C₃ (blue) for upper, middle and lower body respectively. The segment slopes θ^u and θ^l describe the posture in terms of the overall orientation of the upper and lower body.