Articulated Figure Positioning by Multiple Constraints

A problem that arises in positioning an articulated figure is the solution of 3D joint positions (kinematics) when goal positions, rather than joint angles, are given. If more than one such goal is o be achived, tge problem is often solved interactively by positioning or solving one component of the linkage, then adjusting another, then redoing the first, and so on. This iterative process us skiw abd tedious. We present a method that automatically solves multiple simultaneous joint position goals. The user interface offers a six-degree-of-freedom input device to specify joint angles and goal positions interactively. Examplesare used to demonstrate the power and efficiency of this method for keypositon animation.

[1]  Ivan E. Sutherland,et al.  Sketchpad a Man-Machine Graphical Communication System , 1899, Outstanding Dissertations in the Computer Sciences.

[2]  John Chapman,et al.  The integration of subjective and objective data in the animation of human movement , 1980, SIGGRAPH '80.

[3]  Norman I. Badler,et al.  Special problems in human movement simulation , 1980, SIGGRAPH '80.

[4]  J. O'Rourke,et al.  Model-based image analysis of human motion using constraint propagation , 1980, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[5]  Arthur J. Olson,et al.  GRAMPS - A graphics language interpreter for real-time, interactive, three-dimensional picture editing and animation , 1981, SIGGRAPH '81.

[6]  R. Paul.  Robot manipulators : mathematics, programming, and control : the computer control of robot manipulators , 1981 .

[7]  Christopher Schmandt,et al.  Spatial input/display correspondence in a stereoscopic computer graphic work station , 1983, SIGGRAPH.

[8]  Richard H. Bartels,et al.  Interpolating splines with local tension, continuity, and bias control , 1984, SIGGRAPH.

[9]  Norman I. Badler,et al.  Parametric keyframe interpolation incorporating kinetic adjustment and phrasing control , 1985, SIGGRAPH.

[10]  James U. Korein,et al.  A geometric investigation of reach , 1985 .

[11]  Anthony A. Maciejewski,et al.  Computational modeling for the computer animation of legged figures , 1985, SIGGRAPH.

[12]  Michael Girard,et al.  Interactive Design of 3D Computer-Animated Legged Animal Motion , 1987, IEEE Computer Graphics and Applications.