Human motion planning based on recursive dynamics and optimal control techniques
Human motion planning based on recursive dynamics and optimal control techniques
复制标题
DOI：
10.1023/a:1021111421247
复制
发表时间：
2002-11-01
影响因子：
3.4
通讯作者：
Metaxas, D
中科院分区：
文献类型：
--
作者：
Lo, J;Huang, G;Metaxas, D
This paper presents an efficient optimal control and recursive dynamics-based computer animation system for simulating and controlling the motion of articulated figures. A quasi-Newton nonlinear programming technique (super-linear convergence) is implemented to solve minimum torque-based human motion-planning problems. The explicit analytical gradients needed in the dynamics are derived using a matrix exponential formulation and Lie algebra. Cubic spline functions are used to make the search space for an optimal solution finite. Based on our formulations, our method is well conditioned and robust, in addition to being computationally efficient. To better illustrate the efficiency of our method, we present results of natural looking and physically correct human motions for a variety of human motion tasks involving open and closed loop kinematic chains.
