NDLI: Force-based motion editing for locomotion tasks

Content Provider	IEEE Xplore Digital Library
Author	Pollard, N.S. Behmaram-Mosavat, F.
Copyright Year	2000
Description	Author affiliation: Brown Univ., Providence, RI, USA (Pollard, N.S.)
Abstract	This paper describes a fast technique for modifying motion sequences for complex articulated mechanisms in a way that preserves physical properties of the motion. This technique is relevant to the problem of teaching motion tasks by demonstration, because it allows a single example to be adapted to a range of situations. Motion may be obtained from any source, e.g., it may be captured from a human user. A model of applied forces is extracted from the motion data, and forces are scaled to achieve new goals. Each scaled force model is checked to ensure that frictional and kinematic constraints are maintained for a rigid body approximation of the character. Scale factors can be obtained in closed form, and constraints can be approximated analytically, making motion editing extremely fast. To demonstrate the effectiveness of this approach, we show that a variety of simulated jumps can be created by modifying a single key-framed jumping motion. We also scale a simulated running motion to a new character and to a range of new velocities.
Starting Page	663
Ending Page	669
File Size	663112
Page Count	7
File Format	PDF
ISBN	0780358864
ISSN	10504729
DOI	10.1109/ROBOT.2000.844128
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-04-24
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Motion control Interpolation Humans Biological system modeling Force control Friction Animation Robots Mechanical factors
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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