By Katsu Yamane
This publication makes a speciality of concerns relating to human figures: realtime dynamics computation and interactive movement iteration. despite the becoming curiosity in human figures as either actual robots and digital characters, usual 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" offers unique algorithms to simulate, learn, generate and regulate motions of human figures, all concentrating on realtime and interactive computation. The e-book offers either sensible equipment for contact/collision simulation crucial for the simulation of humanoid robots and digital characters and a normal framework for on-line, interactive movement new release of human figures in line with the dynamics simulation algorithms.
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Extra info for Simulating and Generating Motions of Human Figures (Springer Tracts in Advanced Robotics)
8. A four-bar closed kinematic chain (a) and its associated virtual open kinematic chain (b). 32) obviously three. From this fact, we have confirmed the intuition that this structure has 4 ; 3 = 1DOF. 33). 37) 3 ;1 23 This result also coincides with the intuition because, when 3 increases, accordingly while 2 and 4 decreases with the same speed. 39) 1 The inverse dynamics computation is performed as follows. Suppose we need the joint torques to keep the mechanism in the configuration shown in Fig.
The latter one, on the other hand, allows only two parallel processes and requires four steps in total. If we have more than four processors, therefore, it is better to apply the former schedule. Otherwise it is better to use the latter order because its total computational cost is worse than the latter. The issue here is how to determine the schedule of the assembly and disassembly phases that makes the best use of the available processors. A qualitative strategy is shown to obtain the optimal scheduling for a given kinematic chain and the number of processors.
124–134, 2000. K. Yamane: Simulating and Generating Motions of Human Figures, STAR 9, pp. 25–35, 2004. Springer-Verlag Berlin Heidelberg 2004 26 3 Link Connectivity Description for Structure-Varying Kinematic Chains the constraint of the new joint. The new joint velocities are then used as the velocity boundary condition for the next step. We present a method for computing the velocity boundary condition after a collision based on the equations of kinematic constraint and conservation of momentum.
Simulating and Generating Motions of Human Figures (Springer Tracts in Advanced Robotics) by Katsu Yamane