Simulation of human running

We describe algorithms for the control of locomotion of a simulated planar model of a human. The rigid body model has seventeen degrees of freedom and dynamic parameters approximating those given in the literature for humans. The locomotion control algorithms allow the model to run at a variety of speeds. The motion produced by the simulation can be used to produce realistic computer animations and interactive, synthetic actors for virtual environments. These algorithms also provide insight into how robotic mechanisms that resemble the complexity of humans might be controlled.<<ETX>>

[1]  W. T. Dempster,et al.  Properties of body segments based on size and weight , 1967 .

[2]  S. Rossignol,et al.  Phasic Control of Reflexes During Locomotion in Vertebrates , 1976 .

[3]  G. Cavagna,et al.  The sources of external work in level walking and running. , 1976, The Journal of physiology.

[4]  C. Frohlich.  Do springboard divers violate angular momentum conservation , 1979 .

[5]  James T. Kajiya,et al.  A symbolic method for calculating the integral properties of arbitrary nonconvex polyhedra , 1984, IEEE Computer Graphics and Applications.

[6]  A. Patla,et al.  Corrective responses to perturbation applied during walking in humans , 1984, Neuroscience Letters.

[7]  I. Shimoyama,et al.  Dynamic Walk of a Biped , 1984 .

[8]  Thomas A. McMahon,et al.  Muscles, Reflexes, and Locomotion , 1984 .

[9]  Daniel Thalmann,et al.  Computer animation - theory and practice , 1985, Computer science workbench.

[10]  D. E. Rosenthal.  High Performance Multibody Simulations via Symbolic Equation Manipulation and Kane's Method , 1986 .

[11]  Marc H. Raibert,et al.  Legged Robots That Balance , 1986, IEEE Expert.

[12]  R. M. Alexander,et al.  Elastic mechanisms in animal movement , 1988 .

[13]  Nadia Magnenat-Thalmann.  The Problematics of Facial Animation , 1989 .

[14]  Thomas W. Calvert,et al.  Goal-directed, dynamic animation of human walking , 1989, SIGGRAPH.

[15]  Atsuo Takanishi,et al.  Dynamic Biped Walking Stabilized With Optimal Trunk And Waist Motion , 1989, Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications.

[16]  Daniel Thalmann,et al.  State-of-the-art in Computer Animation , 1989, Springer Japan.

[17]  Akihito Sano,et al.  Sensor-Based Control of a Nine-Link Biped , 1990, Int. J. Robotics Res..

[18]  Tad McGeer,et al.  Passive Dynamic Walking , 1990, Int. J. Robotics Res..

[19]  Jessica K. Hodgins,et al.  Biped Gymnastics , 1988, Int. J. Robotics Res..

[20]  Jessica K. Hodgins,et al.  Biped gait transitions , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[21]  Jessica K. Hodgins,et al.  Adjusting step length for rough terrain locomotion , 1991, IEEE Trans. Robotics Autom..

[22]  Jeff Koechling,et al.  How Fast Can a Legged Robot Run , 1993 .