This paper presents an interactive motion-editing method for human animation. Through sketches, users are able to create a 3D skeleton model without any constraints. Then motion retargeting is used to adapt the original motion to the model obtained from the sketches. For supporting expression of intention, our method provides users with direct manipulation of the key parts of the model and uses...

Computer-generated character animation, where human or anthropomorphic characters are animated to tell a story, holds tremendous potential to enrich education, human communication, perception, and entertainment. However, current animation procedures rely on a time consuming and difficult process that requires both artistic talent and technical expertise. Despite the tremendous amount of artistr...

This chapter presents the study and modelling of KR 6 KUKA Robot, of the Robotics Laboratory, Federal University of Rio de Janeiro, see fig 1. The chapter shows the CAD model (Computer Aided Design), the direct kinematics, the inverse kinematics and the inverse dynamical model. The direct kinematic is based in the use of homogeneous matrix. The inverse kinematics uses the quadratic equations mo...