Planning of minimum-time trajectories for robot arms
International Journal of Robotics Research
Using dynamic analysis for realistic animation of articulated bodies
IEEE Computer Graphics and Applications
Articulated figure positioning by multiple constraints
IEEE Computer Graphics and Applications
Interactive design of 3D computer-animated legged animal motion
IEEE Computer Graphics and Applications
Near-real-time control of human figure models
IEEE Computer Graphics and Applications
Controlling dynamic simulation with kinematic constraints
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Good vibrations: modal dynamics for graphics and animation
SIGGRAPH '89 Proceedings of the 16th annual conference on Computer graphics and interactive techniques
Analytical methods for dynamic simulation of non-penetrating rigid bodies
SIGGRAPH '89 Proceedings of the 16th annual conference on Computer graphics and interactive techniques
Goal-directed, dynamic animation of human walking
SIGGRAPH '89 Proceedings of the 16th annual conference on Computer graphics and interactive techniques
Interactive real-time articulated figure manipulation using multiple kinematic constraints
I3D '90 Proceedings of the 1990 symposium on Interactive 3D graphics
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
The motion dynamics of snakes and worms
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
Motion interpolation by optimal control
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
A hand biomechanics workstation
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Interactive spacetime control for animation
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
Planning motions with intentions
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Inverse kinematics positioning using nonlinear programming for highly articulated figures
ACM Transactions on Graphics (TOG)
Complex Character Positioning Based on a Compatible Flow Model of Multiple Supports
IEEE Transactions on Visualization and Computer Graphics
Complex Models for Animating Synthetic Actors
IEEE Computer Graphics and Applications
Case study: new techniques in the design of healthcare facilities
VIS '94 Proceedings of the conference on Visualization '94
A physically-based motion retargeting filter
ACM Transactions on Graphics (TOG)
Interactive animation of dynamic manipulation
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
Interactive Character Animation Using Simulated Physics: A State-of-the-Art Review
Computer Graphics Forum
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A methodology and algorithm are presented that generate motions imitating the way humans complete a lifting task under various loading conditions. The path taken depends on "natural" parameters: the figure geometry, the given load, the final destination, and, especially, the strength model of the agent. Additional user controllable parameters of the motion are the comfort of the action and the perceived exertion of the agent. The algorithm uses this information to incrementally compute a motion path of the end-effector moving the load. It is therefore instantaneously adaptable to changing force, loading, and strength conditions. Various strategies are used to model human behavior (such as reducing moment, pull back, add additional joints, and jerk) that compute the driving torques as the situation changes. The strength model dictates acceptable kinematic postures. The resulting algorithm offers torque control without the tedious user expression of driving forces under a dynamics model. The algorithm runs in near-realtime and offers an agent-dependent toolkit for fast path prediction. Examples are presented for various lifting tasks, including one-and two-handed lifts, and raising the body from a seated posture.