cient Parallel Dynamics Computation of Human Figures Katsu YAMANE
نویسندگان
چکیده
An e cient parallel algorithm for forward dynam ics computation of human gures is to be proposed The algorithm is capable of handling any kinematic chains including structure varying ones The asymp totic complexity of the algorithm is O N in serial computation and O logN in parallel computation on O N processors for most practical kinematic chains The idea is to assemble a kinematic chain by adding the joints one by one and compute the constraint forces at the new joints using the Principle of Virtual Work The parallelism of the algorithm can be adapted for parallel processing systems with any number of proces sors by simply changing the assembly order Simula tion examples on an node cluster demonstrate the e ectiveness of the algorithm
منابع مشابه
Dynamics computation of closed kinematic chains for motion synthesis of human figures
This paper discusses the dynamics computation of closed kinematic chains, especially those found in motions of human gures. A number of e cient dynamics computation algorithms have been established in robotics for open kinematic chains and particular types of closed kinematic chains, such as parallel ve-bar link mechanisms and the Stewart platform. The dynamics computation of closed kinematic c...
متن کاملDynamics computation of structure-varying kinematic chains and its application to human figures
This paper discusses the dynamics computation of structure-varying kinematic chains which imply mechanical link systems whose structure may change from open kinematic chain to closed one and vice versa. The proposed algorithm can handle and compute the dynamics and motions of any rigid link systems in a seamless manner without switching among algorithms. The computation is developed on the foun...
متن کاملAutomatic Scheduling for Parallel Forward Dynamics Computation of Open Kinematic Chains
Recent progress in the algorithm as well as the processor power have made the dynamics simulation of complex kinematic chains more realistic in various fields such as human motion simulation and molecular dynamics. The computation can be further accelerated by employing parallel processing on multiple processors. In fact, parallel processing environment is becoming more affordable thanks to rec...
متن کاملOptical Motion Capture System with Pan-Tilt Camera Tracking and Realtime Data Processing
This paper presents the realtime processing of optical motion capture with pan-tilt camera tracking. Pantilt camera tracking expands the range of capturing eld dynamically. Asymmetrical marker distribution and polyhedra search algorithm realize robust labeling against marker missing. The algorithm is developed for parallel cluster computation and enables realtime data processing. Experimental r...
متن کاملDynamics Computation of Structure-Varying Kinematic Chains for Motion Synthesis of Humanoid
This paper discwwes th,e dynamics computation, oj strw tu,re ml-yang kin, em,dic chains which, amply m,ech,an,icd link systems wh,ose strudwe may ch,ange from open kinematic chain, to C1O,IA one o,n.d vice I) e rs 0,. The proposed dgorith,rn, can, h,an,dle strwiure chtanges in, o, seo,m,kss manm,er u)ith,out MA ch,an,g among rdgorathm,s for dij%ren.t kinematic ch,ain.s. The ,$tr?!,ct?~.re-?)fl....
متن کامل