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Robot modelling, perception, and motion synthesis

Tchoń K., Zieliński C.

Journal of Automation Mobile Robotics and Intelligent Systems

2017

Vol. 11, No. 2

3--4

Suryey on physically-based animation techniques

Lebek K., Stępień J.

Studia Informatica

2011

Vol. 32, nr 4A

43-55

Physically-based animation, thanks to the growing computing power of currently used computer hardware, has a chance to become a leading trend in the computer-aided animation of virtual characters. While synthesized motion may offer lower quality than recorded with motion-capture techniąues, results are very promising.

Animacja oparta ns symulacji fizycznej, dzięki rosnącej mocy obliczeniowej obecnie używanego sprzętu komputerowego, ma szansę zostać wiodącym trendem w komputerowo wspomaganej animacji postaci wirtualnych. Mimo niewiele gorszej jakości ruchu syntetyzowanego w stosunku do technik motion-capture wyniki są bardzo obiecujące.

Motion synthesis and force distribution analysis for a biped robot

Trojnacki M.T., Zielińska T.

Acta of Bioengineering and Biomechanics

2011

Vol. 13, no. 2

45-56

In this paper, the method of generating biped robot motion using recorded human gait is presented. The recorded data were modified taking into account the velocity available for robot drives. Data includes only selected joint angles, therefore the missing values were obtained considering the dynamic postural stability of the robot, which means obtaining an adequate motion trajectory of the so-called Zero Moment Point (ZMT). Also, the method of determining the ground reaction forces' distribution during the biped robot's dynamic stable walk is described. The method was developed by the authors. Following the description of equations characterizing the dynamics of robot's motion, the values of the components of ground reaction forces were symbolically determined as well as the coordinates of the points of robot's feet contact with the ground. The theoretical considerations have been supported by computer simulation and animation of the robot's motion. This was done using Matlab/Simulink package and Simulink 3D Animation Toolbox, and it has proved the proposed method.