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
Making them move
Animating rotation with quaternion curves
SIGGRAPH '85 Proceedings of the 12th annual conference on Computer graphics and interactive techniques
LSQR: An Algorithm for Sparse Linear Equations and Sparse Least Squares
ACM Transactions on Mathematical Software (TOMS)
SIGGRAPH '88 Proceedings of the 15th 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
Collision Detection and Response for Computer Animation
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Realistic animation of rigid bodies
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Numerical Initial Value Problems in Ordinary Differential Equations
Numerical Initial Value Problems in Ordinary Differential Equations
Robot Dynamics Algorithm
I3D '90 Proceedings of the 1990 symposium on Interactive 3D graphics
Control of a virtual actor: the roach
I3D '90 Proceedings of the 1990 symposium on Interactive 3D graphics
Dynamic simulation of autonomous legged locomotion
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Computer animation of knowledge-based human grasping
Proceedings of the 18th 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
Fast animation and control of nonrigid structures
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Representative Spherical Plane Method and Comsposition of Object Manipulation Methods
VRAIS '96 Proceedings of the 1996 Virtual Reality Annual International Symposium (VRAIS 96)
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We have implemented an algorithm for rigid body dynamics which unifies the advantages of linear recursive algorithms with the advantages of earlier linear algebra based constraint force approaches. No restriction is placed on the joints between links. The algorithm is numerically robust and can deal with arbitrary trees of bodies, including kinematic loops. Motion as well as force constraints on the dynamic behavior of any member of the linkage can be added easily. Through the use of spatial algebra notation---including our extension to account for spatial position---the mathematical expressions are simplified and more efficient to execute. The algorithm has been implemented on workstation class machines and performs at interactive speeds.