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Kinematic control of the mass properties of redundant articulated bodies

Related publications (40)

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Automated Motion LoD with Rigid Constraints

Daniel Thalmann, Junghyun Ahn

Motion LoD (Level of Detail) is a preprocessing technique that generates multiple details of captured motion by eliminating joints. This LoD technique is applied to movie, game or VR environments for the purpose of improving speed of crowd animation. So fa ...

2010

Correlative joint definition for motion analysis and animation

Daniel Thalmann, Anders Sandholm

In this paper we address the problem of creating accurate joint models from real motions while allowing scalability. We propose an automatic method to model, scale, and simulate non-idealized joints from the external motion of markers. We demonstrate the m ...

2010

The hydrodynamic Chaplygin sleigh

We consider the motion of rigid bodies in a potential fluid subject to certain nonholonomic constraints and show that it is described by Euler-Poincare-Suslov equations. In the two-dimensional case, when the constraint is realized by a blade attached to th ...

2010

Ultrasonic monolithic piezoelectric multi DOF actuators for mobile microrobots

Jean-Marc Breguet, Walter Driesen, Tomas Cimprich

We propose a new type of “hybrid” ultrasonic driving principle for our monolithic piezoelectric actuators, which consist of simple electrode patterning on a PZT ceramic substrate The operating principle of the proposed USM is based on the conversion of ell ...

2006

Robust Kinematic Constraint Detection for Motion Data

Ronan Boulic, Benoît Le Callennec

Motion capture data is now widely available to create realistic character animation. However, it is difficult to reuse without any additional information. For this reason, annotating motion data with kinematic constraints is a clever step to ease further o ...

2006

Inverse kinematics techniques of the interactive posture control of articulated figures

The context of this thesis is the interactive manipulation of complex articulated figures by means of geometric constraints (here called tasks), for the purpose of posture control and design. The goal is to determine a posture satisfying a set of prescribe ...

EPFL2001

Vehicle for rugged terrain

Roland Siegwart, Michel Lauria

The invention concerns a vehicle whereof the rigid body (1, 2, 4) comprises the front element (20) forming the rear element of a deformable articulated quadrilateral (17, 18, 19, 20). The element (17) is mounted in the extension of the arm (15) linked to t ...

2001

Human shoulder modeling including scapulo-thoracic constraint and joint sinus cones

Daniel Thalmann

In virtual human modeling, the shoulder is usually composed of clavicular, scapular and arm segments related by rotational joints. Although the model is improved, the realistic animation of the shoulder is hardly achieved. This is due to the fact that it i ...

Elsevier2000

Versatile tuning of humanoid agent activity

Daniel Thalmann, Ronan Boulic

Presents an integration framework for heterogeneous motion generators. The objective is to outline issues that are currently easily solved in the professional post-processing systems used in film and game production but which cannot be transposed “as ...

Blackwell Publishers for Eurographics Assoc2000

3D modeling of the human upper limb including the biomechanics of joints, muscles and soft tissues

The challenge in virtual human modeling is to achieve the representation of the main human characteristics with as much realism as possible. Such achievements would allow the simulation and/or analysis of many virtual situations involving humans. Simulatio ...

EPFL1999