Passive control architecture for virtual humans

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2005, Pages 1432-1437

  Rennuit, Antoine ^a,b,c   Micaelli, Alain ^a   Merlhiot, Xavier ^a   Andriot, Claude ^a   Guillaume, François ^b   Chevassus, Nicolas ^b   Chablat, Damien ^c   Chedmail, Patrick ^c  

^a INSTITUT DE RADIOPROTECTION ET DE SÛRETÉ NUCLÉAIRE   (France)

^b AIRBUS GROUP INNOVATIONS   (Germany)

^c INSTITUT DE RECHERCHE EN COMMUNICATIONS ET CYBERNÉTIQUE DE NANTES   (France)

Author keywords

Contact; Motion capture; Passive projections; Virtual humans

Indexed keywords

CONTACTS (FLUID MECHANICS); INTELLIGENT ROBOTS;

CONTROL ARCHITECTURE; CONTROL SCHEMES; INTERNAL CONTROLS; JOINT LIMITS; MOTION CAPTURE; PASSIVE CONTROL; PASSIVE PROJECTIONS; VIRTUAL HUMANS;

VIRTUAL REALITY;

EID: 79957983168     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2005.1545543     Document Type: Conference Paper

References (17)

1. R. Murray, Z. Li, S. Sastry, "A Mathematical Introduction to Robotic Manipulation", CRC Press, 1994.
2. D. Ruspini, O. Khatib, "Collision/Contact for the Dynamic Simulation of Complex Environments", IEEE/RSJ International Conference on Intelligent Robots and Systems:IROS'97, September 1997, Genoble, France.
3. L. D. Joly, "Commande Hybride Position/Force pour la Téléopération: une Approche Basée sur les Analogies Mécaniques", PhD thesis, Université Paris 6, 1997.
4. E. Celledoni, B. Owren, "Lie group methods for rigid body dynamics and time integration on manifolds", Computer Methods in Applied Mechanics and Engineering 192(3-4): 421-438. 2003. (Pubitemid 36101384)
5. M. Gleicher, "Retargetting Motion to New Characters", Proceedings of SIGGRAPH 98. In Computer Graphics Annual Conferance Series. 1998.
6. Z. Popovic, A. Witkin, "Physically Based Motion Transformation" , Siggraph 1999, Computer Graphics Proceedings.
7. P. Baerlocher, R. Boulic, "An Inverse Kinematic Architecture Enforcing an Arbitrary Number of Strict Priority Levels", The Visual Computer, Springer Verlag, 20(6), 2004.
8. L. Sentis, O. Khatib, "Task-Oriented Control of Humanoid Robots Through Prioritization", IEEE-RAS/RSJ International Conference on Humanoid Robots, Santa Monica, USA, November 2004.
9. O. Khatib, J. Warren, V. De Sapio, L. Sentis, "Human-Like Motion From Physiologically-Based Potential Energies", On Advances in Robot Kinematics, Springer 2004.
10. V. B. Zordan and J. K. Hodgins. Motion capture-driven simulations that hit and react. In Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation, pages 89-96. ACM Press, 2002.
11. H. Schmidl and M. C. Lin, "Geometry-driven Interaction between Avatars and Virtual Environments", Computer Animation and Virtual Worlds Journal, July 2004.
12. P. Garrec, J.P. Martins, J.P. Friconneau, "A new technology for portable exoskeletons", submitted to AMSE: International Association for Modelling and Simulation.
13. V.B. Zordan, N.C. Vander Der Horst, "Mapping optical motion capture data to skeletal motion using a physical model", Eurographics/SIGGRAPH Symposium on Computer Animation, 2003.
14. X. Merlhiot, "Dossier d'analyse des algorithmes embarqué s", CEA Technical Report, January 2005, to be published in the framework of the LHIR RNTL project.
15. K. Harada, H. Hirukawa, F Kanehiro, K. Fujiwara, K. Kaneko, S. Kajita, M. Nakamura, "Dynamical Balance of a Humanoid Robot Grasping an Environment", Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems IROS'2004, October 2004, Sendai, Japan.
16. F.A. Mussa-Ivaldi and N.Hogan, "Integrable Solutions Of Kinematic Redundancy Via Impedance Control", International Journal of Robotics Research (1991) 10(5): 481-491. (Pubitemid 21722692)
17. H.K. Khalil, "Nonlinear Systems", third edition, Prentice Hall, 2002.