Adaptive locomotion on slopes and stairs using pelvic rotation

Title
Adaptive locomotion on slopes and stairs using pelvic rotation
Authors
권태수
Keywords
Computer animation; Inverse kinematics; Physics-based
Issue Date
2015-04
Publisher
SPRINGER
Citation
VISUAL COMPUTER, v. 31, NO 6-8, Page. 873-881
Abstract
In this paper, we introduce a new online motion retargeting technique to generate natural locomotion of walking on slopes and stairs using only a single captured reference motion. An inverse-kinematics solver is developed to generate poses satisfying smooth trajectories of positional and rotational constraints for feet and hands. By considering the rotations of the pelvis and upper body, our technique is able to produce natural poses without knee-popping artifacts.
URI
http://link.springer.com/article/10.1007%2Fs00371-015-1103-1http://hdl.handle.net/20.500.11754/23728
ISSN
0178-2789; 1432-2315
DOI
http://dx.doi.org/10.1007/s00371-015-1103-1
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > DIVISION OF COMPUTER SCIENCES AND ENGINEERING(컴퓨터공학부) > Articles
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