Publication

Complex character positioning based on a compatible flow model of multiple supports

Daniel Thalmann, Ronan Boulic
1997
Journal Articles

Abstract

We present a posture design paradigm for the positioning of complex characters. It is illustrated here on human figures. We exploit the inverse kinetics technique which allows the center of mass position control for postures with either single or multiple supports. For the multiple support case, we introduce a compatible flow model of the supporting influence. With this approach, we are able to handle continuous modification of the support distribution. By construction, inverse kinetics presents the same control architecture as inverse kinematics, and thus, it shows equivalent computing cost and similar intuitive concepts. Furthermore, inverse kinetics for the center of mass and inverse kinematics for fixed end effecters can be combined to generate a posture displaying static balance, goal oriented features, and an additional gravity optimization

Official source

https://infoscience.epfl.ch/entities/publication/090a68e1-3afe-469d-bb28-14facda8bb41

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Daniel Thalmann, Ronan Boulic
1997
Journal Articles

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/090a68e1-3afe-469d-bb28-14facda8bb41

About this result

Related concepts (32)

Inverse kinematics

In computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain. Given joint parameters, the position and orientation of the chain's end, e.g. the hand of the character or robot, can typically be calculated directly using multiple applications of trigonometric formulas, a process known as forward kinematics.

Kinematics

Kinematics is a subfield of physics, developed in classical mechanics, that describes the motion of points, bodies (objects), and systems of bodies (groups of objects) without considering the forces that cause them to move. Kinematics, as a field of study, is often referred to as the "geometry of motion" and is occasionally seen as a branch of mathematics. A kinematics problem begins by describing the geometry of the system and declaring the initial conditions of any known values of position, velocity and/or acceleration of points within the system.

Robot kinematics

In robotics, robot kinematics applies geometry to the study of the movement of multi-degree of freedom kinematic chains that form the structure of robotic systems. The emphasis on geometry means that the links of the robot are modeled as rigid bodies and its joints are assumed to provide pure rotation or translation. Robot kinematics studies the relationship between the dimensions and connectivity of kinematic chains and the position, velocity and acceleration of each of the links in the robotic system, in order to plan and control movement and to compute actuator forces and torques.

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Complex character positioning based on a compatible flow model of multiple supports

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