Computer animation of human walking: a survey

Multon, Franck; France, Laure; Cani-Gascuel, Marie-Paule; Debunne, Giles

doi:10.1002/(sici)1099-1778(199901/03)10:1<39::aid-vis195>3.0.co;2-2

Cited by 106 publications

(44 citation statements)

References 16 publications

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“…Despite the fact that a human body is composed of numerous parts and has many degrees of freedom (DoFs), a human-like motion can be simply described by a model with 17 segments and 30 DoFs [32,33]. If we focus on only the leg motion, we Table 1 Parameters of the biped robot [35] Parameter Value m 1 3.3 kg m 2 5.7 kg m 3 10.0 kg m 4 13.0 kg m 5 10.0 kg m 6 5.7 kg m 7 3.3 kg m 8 30.0 kg l 1 100 mm l 2 300 mm l 3 300 mm l 4 100 mm l 5 300 mm l 6 300 mm l 7 100 mm l 8 250 mm l w 150 mm l f l 200 mm l f w 80 mm l f 1 100 mm l f 2 40 mm can model the upper body as one segment, and the model has 8 segments and 17 DoFs [34].…”

Section: Robot Modelmentioning

confidence: 99%

An effective trajectory generation method for bipedal walking

Choi

2007

Robotics and Autonomous Systems

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Section: Robot Modelmentioning

confidence: 99%

An effective trajectory generation method for bipedal walking

Choi

2007

Robotics and Autonomous Systems

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“…Ground reaction forces also act first at the legs level and constraint indirectly the center of mass trajectory. Such a mechanical point of view has been investigated in biomechanics for the study of the human locomotion (see for instance Winter 2004), in computer animation (see for instance Multon et al 1999) and in robotics for the study of the humanoid robots locomotion (see for instance the pioneering work, Raibert 1986 or the more recent worked out example of HRP robot, Hirukawa et al 2005).…”

Section: Introductionmentioning

confidence: 99%

On the nonholonomic nature of human locomotion

et al. 2008

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In the kinematic realm, wheeled robot's determining characteristic lies in its nonholonomic constraint. Indeed, the wheels of the robot unequivocally force the robot vehicle to move tangentially to its main axis. Here we test the hypothesis that human locomotion can also be partly described by such a nonholonomic system. This hypothesis is inspired by the trivial observation that humans do not walk sideways: some constraints of different natures (anatomical, mechanical. . .) may restrict the way humans generate locomotor trajectories. To model these constraints, we propose a simple differential system satisfying the so called rolling without sliding constraint. We validated the proposed model by comparing simulated trajectories with actual (recorded) trajectories obtained from goal-oriented locomotion of human subjects. These subjects had to start from a pre-defined position and direction in space and cross over to a distant porch so that both initial and final positions and directions were controlled. A comparative analysis was successfully undertaken by making use of numerical methods to compute the control inputs from actual trajectories. To achieve this, three body segments were used as local reference frames: head, pelvis and torso. The best simulations were obtained using the last body segment. We therefore suggest an analogy between the steering wheels and the torso segment, meaning that for the control of locomotion, the trunk behavior is constrained in a nonholonomic manner. Our approach allowed us to successfully predict 87 percent of trajectories recorded in seven subjects and might be particularly relevant for future pluridisciplinary research programs dealing with modeling of biological locomotor behaviors.

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“…Kinematics and dynamic approaches for human locomotion are described by many researchers [6,7,8,9]. A survey of human walking is given in [10].…”

Section: Human Walking Behaviormentioning

confidence: 99%

Motion Control for Realistic Walking Behavior using Inverse Kinematics

Memişoğlu

Güdükbay

Özgüç

2007

2007 3DTV Conference

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This study presents an interactive hierarchical motion control system for the animation of human figure locomotion. The articulated figure animation system creates movements using motion control techniques at different levels, like goaldirected motion and walking. Inverse Kinematics using Analytical Methods (IKAN) software, developed at the University of Pennsylvania, is utilized for controlling the motion of the articulated body.

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Computer animation of human walking: a survey

Cited by 106 publications

References 16 publications

An effective trajectory generation method for bipedal walking

An effective trajectory generation method for bipedal walking

On the nonholonomic nature of human locomotion

Motion Control for Realistic Walking Behavior using Inverse Kinematics

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