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Human motion planning based on recursive dynamics and optimal control techniques.

Janzen Lo1, Gang Huang, Dimitris Metaxas

  • 1Department of Computer and Information Science, School of Engineering and Applied Sciences, University of Pennsylvania, Philadelphia, PA 19104, USA.

Multibody System Dynamics
|February 14, 2003
PubMed
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This study introduces an efficient computer animation system for realistic human motion simulation. It uses optimal control and recursive dynamics to solve complex motion-planning problems effectively.

Area of Science:

  • Computer Animation
  • Robotics
  • Control Theory

Background:

  • Simulating and controlling articulated figures is complex.
  • Existing methods may lack computational efficiency or robustness.

Purpose of the Study:

  • To develop an efficient optimal control and recursive dynamics-based system for articulated figure motion.
  • To enable natural-looking and physically correct human motion simulation.

Main Methods:

  • Implemented a quasi-Newton nonlinear programming technique for minimum torque-based motion planning.
  • Derived explicit analytical gradients using matrix exponential formulation and Lie algebra.
  • Utilized cubic spline functions to define a finite search space for optimal solutions.

Main Results:

Keywords:
NASA Discipline Space Human FactorsNon-NASA Center

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  • The developed method is computationally efficient, well-conditioned, and robust.
  • Demonstrated natural-looking and physically correct human motions for various tasks.
  • Successfully simulated motions for both open and closed-loop kinematic chains.

Conclusions:

  • The proposed system offers an efficient and robust solution for controlling articulated figure motion.
  • The integration of optimal control and recursive dynamics yields high-quality animation results.
  • This approach advances the field of realistic human motion synthesis in computer animation.