Title :
Generation of physically consistent interpolant motion from key frames for human-like multibody systems in flight
Author :
Nakamura, Yoshihiko ; Dasgupta, Anirvan
Author_Institution :
Dept. of Mechano-Inf., Tokyo Univ., Japan
Abstract :
This paper proposes an approach for generating a physically consistent trajectory from a few key frames of flight motion of a human-like multibody system. Systems in flight are subject to angular momentum conservation, a nonholonomic constraint, and linear momentum conservation. In the proposed approach, motion of one of the links is first generated independently. The motion of all other links is planned appropriately to satisfy the constraints of motion. This work has potential applications ranging from designing dynamic animations to planning free flight motion for humanoid robots
Keywords :
aerospace control; biomechanics; distributed parameter systems; large-scale systems; mobile robots; angular momentum conservation; dynamic animation design; flight motion; free flight motion planning; human-like multibody systems; humanoid robots; key frames; linear momentum conservation; nonholonomic constraint; physically consistent interpolant motion generation; Analytical models; Animation; Computational modeling; Humanoid robots; Humans; Mechanical systems; Motion analysis; Motion planning; Optimal control; Photography;
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
DOI :
10.1109/IROS.1999.812827