scholarly journals Real-Time Control of a Virtual Human Using Minimal Sensors

1993 ◽  
Vol 2 (1) ◽  
pp. 82-86 ◽  
Author(s):  
Norman I. Badler ◽  
Michael J. Hollick ◽  
John P. Granieri
Keyword(s):  
Computer Graphics ◽  
Real Time ◽  
Human Body ◽  
Inverse Kinematics ◽  
Human Model ◽  
Virtual Human ◽  
Real Time Control ◽  
Time Control ◽  
Six Dof ◽  
Full Body

We track, in real-time, the position and posture of a human body, using a minimal number of six DOF sensors to capture full body standing postures. We use four sensors to create a good approximation of a human operator's position and posture, and map it on to our articulated computer graphics human model. The unsensed joints are positioned by a fast inverse kinematics algorithm. Our goal is to realistically recreate human postures while minimally encumbering the operator.

The Algorithm of Redundant Robotic Kinematics Based on Exponential Product

2011 ◽  
Vol 58-60 ◽  
pp. 1902-1907 ◽  
Author(s):  
Xin Fen Ge ◽  
Jing Tao Jin
Keyword(s):  
Real Time ◽  
Inverse Kinematics ◽  
Screw Theory ◽  
Product Formula ◽  
Real Time Control ◽  
Time Control ◽  
Direct Kinematics ◽  
Product Formulas

The intrinsically redundant series manipulator’s kinematics were studied by the exponential product formula of screw theory, the direct kinematics problem and Inverse kinematics problems were analyzed, and the intrinsically redundant series manipulator’s kinematics solution that based on exponential product formulas were proposed; the intrinsically redundant series manipulator’s kinematics is decomposed into several simple sub-problems, then analyzed sub-problem, and set an example to validate the correctness of the proposed method. Finally, comparing the exponential product formula and the D-H parameters, draw that they are essentially the same in solving the manipulator’s kinematics, so as to the algorithm of the manipulator’s kinematics based on exponential product formulas are correct, and the manipulator’s kinematics process based on exponential product formula is more simple and easier to real-time control of industrial.

Mapping Algorithms for Real-Time Control of an Avatar Using Eight Sensors

1998 ◽  
Vol 7 (1) ◽  
pp. 1-21 ◽  
Author(s):  
Sudhanshu K. Semwal ◽  
Ron Hightower ◽  
Sharon Stansfield
Keyword(s):  
Real Time ◽  
Inverse Kinematics ◽  
Iterative Algorithms ◽  
Sensor Data ◽  
Real Time Control ◽  
Mapping Algorithms ◽  
Physical Motion ◽  
Time Control ◽  
Inverse Kinematics Problem ◽  
Sensor Configuration

In a virtual environment for small groups of interacting participants, it is important that the physical motion of each participant be replicated by synthetic human forms in real time. Sensors on a user's body are used to drive an inverse kinematics algorithm. Such iterative algorithms for solving the general inverse kinematics problem are too slow for a real-time interactive environment. In this paper we present analytic, constant time methods to solve the inverse kinematics problem and drive an avatar figure. Our sensor configuration has only eight sensors per participant, so the sensor data is augmented with information about natural body postures. The algorithm is fast, and the resulting avatar motion approximates the actions of the participant quite well. This new analytic solution resolves a problem with an earlier iterative algorithm that had a tendency to position knees and elbows of the avatar in awkward and unnatural positions.

scholarly journals Real-time control of 3D virtual human motion using a depth-sensing camera for agricultural machinery training

2013 ◽  
Vol 58 (3-4) ◽  
pp. 782-789 ◽  
Author(s):  
Chengfeng Wang ◽  
Qin Ma ◽  
Dehai Zhu ◽  
Hong Chen ◽  
Zhoutuo Yang
Keyword(s):  
Real Time ◽  
Human Motion ◽  
Virtual Human ◽  
Agricultural Machinery ◽  
Real Time Control ◽  
Depth Sensing ◽  
Time Control

A New Real-Time Iteration Method Based on Geometry for Inverse Kinematics of Truck Mounted Concrete Pump

2013 ◽  
Vol 373-375 ◽  
pp. 2109-2113
Author(s):  
Long An Chen ◽  
Ying Jie Shen ◽  
Zhi Nan Mi
Keyword(s):  
Real Time ◽  
Iteration Method ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Variable Step Size ◽  
Real Time Control ◽  
Step Size ◽  
Time Control ◽  
Variable Step ◽  
Concrete Pump

A new iteration method based on geometry to solve the inverse kinematics for the boom system of truck mounted concrete pump, which is difficult to real-time control since its degrees of freedom are multiple-redundant, is presented. This method uses a variable-step size technique to approach the solution of the inverse kinematics, and uses geometry to determine how much angles of joint to change and its direction. Comparing with the traditional methods, this method is more suitable for real-time control of truck mounted concrete pump boom system without calculating the inverse matrix of jacobian. By the method the movement of boom will be safer and more stable when pumping concrete. Simulation results show that the new method has a fast convergence speed and good stability.

Developing the Design Architecture of Life-Cycle Virtual Prototyping Systems Using Extended RCS

1996 ◽  
Author(s):  
Chris J. J. Lu ◽  
K. H. Tsai ◽  
Jackson C. S. Yang ◽  
Yu Michael Wang
Keyword(s):  
Control System ◽  
Life Cycle ◽  
Computer Graphics ◽  
Real Time ◽  
Traditional Method ◽  
Virtual Prototyping ◽  
System Support ◽  
Real Time Control ◽  
Cycle System ◽  
Time Control

Abstract Virtual Prototyping has been widely applied since the breakthrough of 3-D computer graphics technology. This paper focuses on the developing methodology and design architecture of life cycle Virtual Prototyping systems. The technical rationale of this methodology, Extended Real-time Control System, is addressed first. VP systems that are established by applying this methodology will include functions of life cycle system support. Two VP systems that applied ERCS are given as examples to illustrate the powerfulness of this methodology. Finally, a comparison of this method and traditional method is provided to conclude this research.

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