| Accession number;02A0720042 |
| Title;Physically Consistent Choreography of Human Figures Based on Inverse Dynamics Computation. |
| Author;TANGE MANABU(Univ. of Tokyo) YAMANE KATSU(Univ. of Tokyo) NAKAMURA YOSHIHIKO(Univ. of Tokyo) |
Journal Title;Nippon Kikai Gakkai Robotikusu, Mekatoronikusu Koenkai Koen Ronbunshu
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Journal Code:L0318A
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ISSN:
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VOL.2002;NO.Pt.4;PAGE.2P1.K10(1)-2P1.K10(2)(2002)
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| Figure&Table&Reference;FIG.1, REF.3 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;This paper proposes a new method to generate physically consistent whole-body motions of human figures with choreography. Choreography is given as motion-characteristic Cartesian trajectories of few parts instead of all joint angle trajectories. With inverse kinematics, this method generates all joint accelerations and automatically considers joint motion ranges and contact constraints. With inverse dynamics computation and a part of equation of motion, this method also considers physical consistency. For human figures which have no fixed base, external forces must be reasonable as contact forces. By thinking a human figures as a rigid body, reasonable external forces and base acceleration are calculated. (author abst.) |
