Computational modeling for the computer animation of legged figures

Modeling techniques for animating legged figures are described which are used in the PODA animation system. PODA utilizes pseudoinverse control in order to solve the problems associated with manipulating kinematically redundant limbs. PODA builds on this capability to synthesize a kinematic model of legged locomotion which allows animators to control the complex relationships between the motion of the body of a figure and the coordination of its legs. Finally, PODA provides for the integration of a simple model of legged locomotion dynamics which insures that the accelerations of a figure's body are synchronized with the timing of the forces applied by its legs.

[1]  A. A. Maciejewski,et al.  Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments , 1985 .

[2]  H. Hemami,et al.  Stability Analysis and Input Design of a Two-Link Planar Biped , 1984 .

[3]  H. Benjamin Brown,et al.  Experiments in Balance with a 3D One-Legged Hopping Machine , 1984 .

[4]  K. Pearson,et al.  Characteristics of Leg Movements and Patterns of Coordination in Locusts Walking on Rough Terrain , 1984 .

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

[6]  R. McN. Alexander,et al.  The Gaits of Bipedal and Quadrupedal Animals , 1984 .

[7]  Yuan F. Zheng,et al.  Dynamics and Control of Motion on the Ground and in the Air with Application to Biped Robots , 1984, J. Field Robotics.

[8]  Charles A. Klein,et al.  Use of Force and Attitude Sensors for Locomotion of a Legged Vehicle over Irregular Terrain , 1983 .

[9]  Charles A. Klein,et al.  Review of pseudoinverse control for use with kinematically redundant manipulators , 1983, IEEE Transactions on Systems, Man, and Cybernetics.

[10]  David E. Orin,et al.  Supervisory Control of a Multilegged Robot , 1982 .

[11]  Badler,et al.  Techniques for Generating the Goal-Directed Motion of Articulated Structures , 1982, IEEE Computer Graphics and Applications.

[12]  Robert B. McGhee,et al.  Adaptive Locomotion of a Multilegged Robot over Rough Terrain , 1979, IEEE Transactions on Systems, Man, and Cybernetics.

[13]  David E. Orin,et al.  Kinematic and kinetic analysis of open-chain linkages utilizing Newton-Euler methods , 1979 .

[14]  C. Lawson,et al.  Extensions and applications of the Householder algorithm for solving linear least squares problems , 1969 .

[15]  Daniel E. Whitney,et al.  Resolved Motion Rate Control of Manipulators and Human Prostheses , 1969 .

[16]  R. Penrose.  On best approximate solutions of linear matrix equations , 1956, Mathematical Proceedings of the Cambridge Philosophical Society.

[17]  Marc H. Raibert,et al.  Trotting and Bounding in a Planar Two-legged Model , 1985 .

[18]  A. A. Maciejewski,et al.  SAM-animation software for simulating articulated motion , 1985, Comput. Graph..

[19]  Wha-Joon Lee,et al.  A computer simulation study of omnidirectional supervisory control for rough-terrain locomotion by a multilegged robot vehicle , 1984 .

[20]  David Louis Zeltzer,et al.  Representation and control of three dimensional computer animated figures (graphics, robotics) , 1984 .

[21]  Kenneth J. Waldron,et al.  Geometrically based manipulator rate control algorithms , 1982 .

[22]  A. Liegeois,et al.  Automatic supervisory control of the configuration and behavior of multi-body mechanisms , 1977 .

[23]  Adi Ben-Israel,et al.  Generalized inverses: theory and applications , 1974 .

[24]  James Hardy Wilkinson,et al.  The Least Squares Problem and Pseudo-Inverses , 1970, Comput. J..

[25]  T. Greville,et al.  Some Applications of the Pseudoinverse of a Matrix , 1960 .

[26]  T. Greville.  The Pseudoinverse of a Rectangular or Singular Matrix and Its Application to the Solution of Systems of Linear Equations , 1959 .

[27]  J. Denavit,et al.  A kinematic notation for lower pair mechanisms based on matrices , 1955 .