Joint Controller Method: Application in 3D Humanoid Style Deformation

Humanoid Dynamic Controller

In the last years several investigators have focused on the development and control of humanoid robots able to acquire human behaviors and features, in order to be able to interact with humans and work together with them. The fall of a humanoid robot can lead to damages, which entail costs for repair or even human health risks, so ensuring stability is a main concern in terms of cost and safety...

Three-Level Tracking Method for Animating a 3D Humanoid Character

With a rapid growth in 3D graphics technology over the last few years, people are desired to see more flexible reacting motions of a biped in animations. In particular, it is impossible to anticipate all reacting motions of a biped while facing a perturbation. In this paper, we propose a three-level tracking method for animating a 3D humanoid character. First, we take the laws of physics into a...

A Low Friction Demanding Approach in Gait Planning for Humanoid Robots During 3D Manoeuvres

This paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. To this end, a humanoid robot with 18 DOF is considered to develop a dynamics model for studying various 3D manoeuvres. Then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. In order to generate feasible w...

3D Deformation

3d Voxel-based Muscle Volume Deformation by Finite Element Method

This report presents a voxel-based biomechanical model for muscle deformation using nite element method (FEM) and volume graphics. Hierarchical voxel meshes are reconstructed from ltered segmented muscle images followed by FEM simulation and volume rendering. Physiological muscle force is considered and linear elastic muscle models for both static and dynamic cases are simulated by FEM. Voxel-b...