Using dynamic analysis to animate articulated bodies such as humans and robots
Proceedings of Graphics Interface '85 on Computer-generated images: the state of the art
Controlling dynamic simulation with kinematic constraints
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
I3D '90 Proceedings of the 1990 symposium on Interactive 3D graphics
Fast contact force computation for nonpenetrating rigid bodies
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Linear-time dynamics using Lagrange multipliers
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
A modeling system based on dynamic constraints
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Robot Dynamics Algorithm
Robot Manipulators: Mathematics, Programming, and Control
Robot Manipulators: Mathematics, Programming, and Control
An Introduction to the Conjugate Gradient Method Without the Agonizing Pain
An Introduction to the Conjugate Gradient Method Without the Agonizing Pain
A differential approach to graphical interaction
A differential approach to graphical interaction
Adaptive dynamics of articulated bodies
ACM SIGGRAPH 2005 Papers
Dynamic Animation and Control Environment
GI '05 Proceedings of Graphics Interface 2005
Dynamic Simulation of Articulated Rigid Bodies with Contact and Collision
IEEE Transactions on Visualization and Computer Graphics
FORK-1S: interactive compliant mechanisms with parallel state computation
Proceedings of the 18th meeting of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games
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A new dynamics algorithm for articulated solid animation is presented. It provides enhancements of computational efficiency and accuracy control with respect to previous solutions. Iterative refinement allows us to perform interactive animations which could be only computed off-line using previous methods. The efficiency results from managing two sets of constraints associated with the kinematic graph, and proceeding in two steps. First, the acyclic constraints are solved in linear time. An iterative process then reduces the closed loop errors while maintaining the acyclic constraints. This allows the user to efficiently trade off accuracy for computation time. We analyze the complexity and investigate practical efficiency compared with other approaches. In contrast with previous research, we present a single method which is computationally efficient for acyclic bodies as well as for mesh-like bodies. The accuracy control is provided by the iterative improvement performed by the algorithm and also from the existence of two constraint priority levels induced by the method. Used in conjunction with a robust integration scheme, this new algorithm allows the interactive animation of scenes containing a few thousand geometric constraints, including closed loops. It has been successfully applied to real-time simulations.