DocumentCode
2058464
Title
Kinematic control of the mass properties of redundant articulated bodies
Author
Baerlocher, P. ; Boulic, R.
Author_Institution
Comput. Graphics Lab., Swiss Federal Inst. of Technol., Zurich, Switzerland
Volume
3
fYear
2000
fDate
2000
Firstpage
2557
Abstract
We show how the mass properties of an articulated body, such as its center of mass and its moments of inertia, may be manipulated like any conventional end effector with well-known iterative, numerical techniques. Within our interactive simulation testbed software, we illustrate this tool for the geometrical design of rigid bodies with prescribed mass properties, and for the manipulation of human figures in computer animation
Keywords
computer animation; digital simulation; iterative methods; kinematics; computer animation; interactive simulation; iterative method; kinematic control; mass properties; redundant articulated bodies; Biological system modeling; Computational modeling; Computer simulation; End effectors; Humans; Kinematics; Software testing; Software tools; Solid modeling; Weight control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.846413
Filename
846413
Link To Document