Human Motion Synthesis Using Trigonometric Splines

In this work, we present a simple framework to synthesize human motion. Our main goal is propose methodology tailored for inexperienced users initiate their research in motion simulation and trajectory optimization. The novelties of the work include following. First, trigonometric splines are used instead traditional B-splines discretize generalized coordinates velocities. Second, useful identities derived. Third, intended be an example, so that even non-skilled users, such as undergraduate students, can perform analysis using high-level programming language MATLAB. Four simulations generated: walking, sitting standing, side-step, jump. results walking validated by experiments. Simulation experimental presented discussed.