Motion can be described in several alternative representations, including joint configuration or end-effector spaces, but also more complex topology-based representations that imply a change of Voronoi bias, metric or topology of the motion space. Certain types of robot interaction problems, e.g. wrapping around an object, can suitably be described by so-called writhe and interaction mesh repre...

A new approach is presented for the animation of articulated figures. We propose a system of articulated motion design which offers a full combination of both direct and inverse kinematic control of the joint parameters. Such an approach allows an animator to interactively specify goal-directed changes to existing sampled joint motions, resulting in a more general and expressive class of possib...

Human gait is a spatiotemporally complex motion, where each segment and joint motion during gait is coupled across other joints. These spatiotemporal joint coupling patterns are closely associated with musculoskeletal injury mechanics, but previous tools used to examine human gait have mainly focused on univariate measures such as stride, step length, maximum range of motion, and the durations ...

The performance limitations of manipulators under joint wriable feedback contrQI are studied as a function of the mechanical flexibility inherent in the manipulator structure. A finite dimensional time domain dynamic model of a two-link, two-joint planar manipulator is used in the study. Emphasis is placed on determining the limitations of control algorithms that use only joint variable feedbac...

The purpose of this paper is to verify the practical effectiveness of an interphalangeal coordination-based joint motion planning method for humanoid finger operations. For the purpose, several experiments have been performed and comparative experimental results are shown. Through the experimental works, it is confirmed that according to the employed joint motion planning method, the joint conf...

However, in human body animation, joint models are often poor simplifications of real joints. They are usually based on classical works in Robotics, where joints are rather idealized and not conceived to deal with many important biological issues. It is not crucial for Animation because the details of joint motion have little influence on global motion, and other animation techniques are able t...

In human body movement simulation such as vertical jump by a forward dynamic model, optimal control theories must be used. In the recent years, new methods were created for solving optimization problems which they were adopted from animal behaviors and environment events such as Genetic algorithm, Particle swarm and Imperialism competitive. In this work, the skeletal model was constructed by Ne...

In this research, as the main contribution, a comprehensive study is carried out on the mathematical modeling and analysis of the inverse kinematics and dynamics of an over-constraint three translational degree-of-freedom parallel manipulator. Due to the inconsistency between the number of equations and unknowns, the problem of obtaining the constraint forces and torques of an over-constraint m...

The consequence of the loss of involutivity of a specific set of vector fields on the periodicity of the joint motion is examined for redundant robots. An output task, defined as a one dimensional periodic closed curve embedded in a two dimensional working surface, is realized through the computation of joint velocities in the configuration space. Depending on the manner in which the joint velo...