Title :
Dynamics computation of structure-varying kinematic chains for motion synthesis of humanoid
Author :
Yamane, Katsu ; Nakamura, Yoshihiko
Author_Institution :
Dept. of Mechano-Inf., Tokyo Univ., Japan
Abstract :
Discusses the dynamics computation of structure-varying kinematic chains which imply mechanical link systems whose structure may change from open kinematic chain to closed one and vice versa. The proposed algorithm can handle structure changes in a seamless manner without switching among algorithms for different kinematic chains. The structure-varying kinematic chains are commonly found in computing human motions. The developed computation will provide the general algorithm for the computation of motion and control of humanoid robots and computer graphic human figures
Keywords :
computer animation; legged locomotion; robot dynamics; robot kinematics; computer graphic human figures; dynamics computation; humanoid; humanoid robots; mechanical link systems; motion synthesis; structure changes; structure-varying kinematic chains; Animals; Character generation; Costs; Geometry; Graphics; Heuristic algorithms; Humanoid robots; Kinematics; Legged locomotion; Vectors;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.770059
