S.K. Semwal and D. Bolt
We present a solution for controlling high-degree-of-freedom articulated figures. This method is based on starting with a limited number of 3D-trajectories specified by the animator. The simulation follows these specified 3D trajectories or states under certain constraints, such as obeying the laws of physics. The solution is developed in two stages. First, the global motion of the articulated figure, as determined by the centre of mass trajectory, is found by optimizing an objective function for the specified 3D trajectories. Second, the joint space trajectories required to achieve the 3D-trajectories are found by using the technique of resolved motion rate control. In this technique the pseudo inverse of the Jacobian performs a quadratic optimization on the joint velocities. Satisfactory motion is simulated for an articulated figure with 17 degrees of freedom. A summary of our algorithm and our results is presented.
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