Applying Empirical Data on Upper Torso Movement to Real-time Collision-free Reach Tasks 2005-01-2685
Simulating human reach is still challenging when considering complex interactions with the environment. Standard approaches involve inverse kinematics (IK) methods and usually require a complete but exponential cost search in configuration space. In ergonomic applications, both “naturalness” and interactive performance are important. We describe a real-time, collision-free, sternum-rooted IK solution for an articulated human figure based on motion capture data, human strength models, and multi-joint coordination functions. Movement paths are discovered through spatial search in a partitioned workspace. The system generates natural collision-free reach motions in real-time. The resulting animations and statistics demonstrate the efficacy of this approach.
Citation: Zhao, L., Liu, Y., and Badler, N., "Applying Empirical Data on Upper Torso Movement to Real-time Collision-free Reach Tasks," SAE Technical Paper 2005-01-2685, 2005, https://doi.org/10.4271/2005-01-2685. Download Citation
Author(s):
Liming Zhao, Ying Liu, Norman I. Badler
Affiliated:
University of Pennsylvania
Pages: 8
Event:
2005 Digital Human Modeling for Design and Engineering Symposium
ISSN:
0148-7191
e-ISSN:
2688-3627
Also in:
SAE 2005 Transactions Journal of Passenger Cars: Mechanical Systems-V114-6
Related Topics:
Ergonomics
Kinematics
Statistical analysis
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