We present a novel adaptive dynamics algorithm with efficient contact handling for articulated robots. Our algorithm automatically computes a fraction of the joints whose motion provides a good approximation to overall robot dynamics. We extend Featherstone’s Divide-and-Conquer algorithm and are able to efficiently handle all contacts and collisions with the obstacles in the environment. Overal...

This presentation describes a set of techniques for implementing a fast and stable dynamics simulator for articulated characters using an analytical constraint approach combined with Featherstone’s linear-time forward dynamics algorithm. It presents an efficient method for enforcing multiple simultaneous constraints on an articulated character in order to control the character’s motion and mode...

This paper extends our previous work in rigid object tracking using a spring system to track articulated objects. The idea is to represent each part of an articulated object with a spring system and connect them via articulation points. Articulation points are detected automatically by observing the motion of the object and integrated into the spring systems of the rigid parts. Experiments with...

Using SAR scattering center locations and magnitudes as features, invariances with articulation (i.e., turret rotation for the ZSU 23/4 gun and T72 tank), with con guration variants (e.g. fuel barrels, searchlights, etc.) and with a depression angle change are shown for real SAR images obtained from the MSTAR public data. This location and magnitude quasi-invariance forms a basis for an innovat...

We present a motion editing method for articulated figures using Combined Partial Motion Clips (CPMCs). CPMCs contain detailed motion information for some parts of the articulated figure. They can be used to edit base motions in such a way that the parts that are not defined in detail will still be affected thereby emulating the correlation that exists naturally between joint movements. This is...

We present fast CCD algorithm for general rigid and articulated models based on conservative advancement. We have implemented the CCD algorithm with two different acceleration techniques which can handle rigid models, and have extended one of them to articulated models. The resulting algorithms take a few milliseconds for rigid models with tens of thousands of triangles, and a few milliseconds ...

ÐA model-based automatic target recognition (ATR) system is developed to recognize articulated and occluded objects in Synthetic Aperture Radar (SAR) images, based on invariant features of the objects. Characteristics of SAR target image scattering centers, azimuth variation, and articulation invariants are presented. The basic elements of the new recognition system are described and performanc...

Walking, running or jumping are special cases of articulated motions which rely heavily on contact forces for their accomplishment. This central role of the contact forces is widely recognized now, but it is rarely connected to the structure of the dynamics of articulated motion. Indeed, this dynamics is generally considered as a complex nonlinear black-box without any specific structure, or it...

A local model of interaction proposed for haptic rendering of rigid body motion is extended to the rigid body manipulation of articulated structures. In the proposed local model, the motion constraints imposed on the user by the articulated structure are rendered through the local dynamics, while those imposed by other virtual objects are rendered through impulsive, penalty, and friction contac...