Title :
Kinematic control of the mass properties of redundant articulated bodies
Author :
Baerlocher, P. ; Boulic, R.
Author_Institution :
Comput. Graphics Lab., Swiss Federal Inst. of Technol., Zurich, Switzerland
Abstract :
We show how the mass properties of an articulated body, such as its center of mass and its moments of inertia, may be manipulated like any conventional end effector with well-known iterative, numerical techniques. Within our interactive simulation testbed software, we illustrate this tool for the geometrical design of rigid bodies with prescribed mass properties, and for the manipulation of human figures in computer animation
Keywords :
computer animation; digital simulation; iterative methods; kinematics; computer animation; interactive simulation; iterative method; kinematic control; mass properties; redundant articulated bodies; Biological system modeling; Computational modeling; Computer simulation; End effectors; Humans; Kinematics; Software testing; Software tools; Solid modeling; Weight control;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.846413
