Resolved Motion Control for High-Degree-Of-Freedom Articulated Figures

We present a solution for controlling high-degree-of-freedom articulated figures. This method is based on starting with a limited number of 3D-trajectories specified by the animator. The simula-tion follows these specified 3D trajectories or states under certain constraints, such as obeying the laws...

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Bibliographic Details
Published inInternational journal of modelling & simulation Vol. 26; no. 4; pp. 309 - 315
Main Authors Semwal, S.K., Bolt, D.
Format Journal Article
LanguageEnglish
Published Anaheim, CA Taylor & Francis 2006
Calgary, AB Acta Press
Zürich Taylor & Francis Ltd
Subjects
Aesthetics
Animation
Applied sciences
Computer animation
Computer science
Control algorithms
Dynamic programming
Electrical engineering. Electrical power engineering
Electrical machines
Exact sciences and technology
Human subjects
Kinematics
Motion control
Neural networks
Optimization techniques
Physics
Realism
Regulation and control
Robotics
Simulation
Studies
Systems, networks and services of telecommunications
Telecommunications
Telecommunications and information theory
Teletraffic
Freedom degree
Multistage method
Flow rate regulation
Optimization method
Pseudoinverse
Teletraffic
Jacobi matrix
Algorithm
Optimization
Traffic management
Traffic control
System simulation
Objective function
Motion control
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Summary:We present a solution for controlling high-degree-of-freedom articulated figures. This method is based on starting with a limited number of 3D-trajectories specified by the animator. The simula-tion follows these specified 3D trajectories or states under certain constraints, such as obeying the laws of physics. The solution is developed in two stages. First, the global motion of the articulated figure, as determined by the centre of mass trajectory, is found by optimizing an objective function for the specified 3D trajectories. Second, the joint space trajectories required to achieve the 3D-trajectories are found by using the technique of resolved motion rate control. In this technique the pseudo inverse of the Jacobian performs a quadratic optimization on the joint velocities. Satisfactory motion is simulated for an articulated figure with 17 degrees of freedom. A summary of our algorithm and our results is presented.
Bibliography:SourceType-Scholarly Journals-1
ObjectType-Feature-1
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ISSN:0228-6203
1925-7082
DOI:10.1080/02286203.2006.11442382