By Katsu Yamane
This booklet makes a speciality of matters regarding human figures: realtime dynamics computation and interactive movement iteration. even with the transforming into curiosity in human figures as either actual robots and digital characters, common algorithms and instruments for his or her kinematics and dynamics computation haven't been investigated a great deal. "Simulating and producing Motions of Human Figures" provides unique algorithms to simulate, study, generate and keep watch over motions of human figures, all targeting realtime and interactive computation. The ebook presents either sensible tools for contact/collision simulation crucial for the simulation of humanoid robots and digital characters and a common framework for on-line, interactive movement iteration of human figures according to the dynamics simulation algorithms.
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Additional info for Simulating and Generating Motions of Human Figures (Springer Tracts in Advanced Robotics)
6 is a typical human body model composed of mechanical joints. The 40 degrees of freedom of the model include 4 rotational joints and 12 spherical joints, which shows that many joints in human bodies can be modeled as spherical joints. 20 2 Inverse and Forward Dynamics of General Closed Kinematic Chains In robot manipulators, a spherical joint is mechanically implemented as three successive rotational joints with their axes intersecting at a point. With this mechanical implementation and the modeling, the 40 degrees of freedom model of human body would need 41 links to treat in dynamics computation.
Simple choice of virtually cut joints for dynamics computation. They coincide with the joints of the virtual links. Less data and computation for link connectivity. They are proportional to the number of links. 3 Link Connectivity Maintenance First, consider a case in which two links are connected to create a new joint. If a closed loop is generated by the connection, as in a case illustrated in Fig. 5, we add a virtual link at the new joint. 3 Link Connectivity Description and Its Maintenance Link5 Base Link6 Parent Name Link4 Link2 Link1 Base Link3 29 Link1 Child Link2 Link4 Real Brother Link5 Link3 Link6v Link6 Fig.
LXNLX = diag( lXk ) MX 0 M 1 r BB rllXX CC rX = B @ ... CA r 0 lcXNLX 1 BB cllXX CC cX = B @ ... CA clXNLX 1 2 1 2 and lXk (k = 1 : : : NLX ) are the indices of the links in subchain X . 49) of all joints in subchain X yields H CX rX + hCX = O N 6NLX CX is a block matrix in the following form: where H CX 2 R H CX = pji cji 1 0 .. B O : : : O H . O : : : O H . O : : : O CC iB Cji pji Cji cji A @ .. .. 55) 46 4 Parallel O(logN) Formulation of Forward Dynamics Fig. 5. Assembling two subchains. namely, the i-th row has two nonzero blocks at columns pji and cji where ji (i = 1 : : : NJX ) is the indices of the joints in subchain X .