Eray Molla
Ronan Boulic
ABSTRACT
In this paper we propose the Middle-Axis-Rotation (MAR) parametrization of human limbs that addresses the ill-conditioned cases of analytical Inverse Kinematics (IK) algorithms. The MAR parametrization is singularity-free in the reach space of the human limbs. Unlike the swivel representation, it does not rely on the projection of an additional fixed vector. In addition, we express the joint limits of each joint of the limb in terms of the redundancy of the new decomposition. In the specific case of the upper limb, we analyse the contribution of the clavicle to produce biomechanically meaningful postures. We illustrate various real-time applications of this approach.
- Badler, N. I., and Tolani, D. 1996. Real-time inverse kinematics of the human arm. Presence 5, 4, 393--401.Google Scholar
Digital Library
- Baerlocher, P., and Boulic, R. 2000. Parametrization and range of motion of the ball-and-socket joint. In DEFORM/AVATARS, 180--190. Google ScholarDigital Library
- Baerlocher, P., and Boulic, R. 2004. An inverse kinematic architecture enforcing an arbitrary number of strict priority levels. The Visual Computer 20, 402--417.Google ScholarDigital Library
- Berenson, D., Srinivasa, S. S., and Kuffner, J. J. 2011. Task space regions: A framework for pose-constrained manipulation planning. I. J. Robotic Res. 30, 12, 1435--1460. Google ScholarDigital Library
- Bolsterlee, B., Veeger, H., and Helm, F. 2013. Modelling clavicular and scapular kinematics: from measurement to simulation. Medical & Biological Engineering & Computing, 1--9.Google Scholar
- Culham, E., and Peat, M. 1993. Functional anatomy of the shoulder complex. J Orthop Sports Phys Ther 18, 1, 342--50.Google ScholarCross Ref
- Grassia, F. S. 1998. Practical parameterization of rotations using the exponential map. Journal of Graphics Tools 3, 29--48. Google ScholarDigital Library
- Halit, C., and Capin, T. 2011. Multiscale motion saliency for keyframe extraction from motion capture sequences. Computer Animation and Virtual Worlds 22, 1, 3--14. Google ScholarDigital Library
- Huang, W., Kapadia, M., and Terzopoulos, D. 2010. Full-body hybrid motor control for reaching. In Motion in Games, R. Boulic, Y. Chrysanthou, and T. Komura, Eds., vol. 6459 of Lecture Notes in Computer Science. Springer Berlin / Heidelberg, 36--47. Google ScholarDigital Library
- Kallmann, M. 2008. Analytical inverse kinematics with body posture control. Computer Animation and Virtual Worlds 19, 2, 79--91. Google ScholarDigital Library
- Klopcar, N., Tomsic, M., and Lenarcic, J. 2007. A kinematic model of the shoulder complex to evaluate the arm-reachable workspace. J Biomech 40, 1, 86--91.Google ScholarCross Ref
- Korein, J. 1985. A geometric investigation of reach. ACM distinguished dissertations. MIT Press. Google ScholarDigital Library
- Kovar, L., Schreiner, J., and Gleicher, M. 2002. Foot-skate cleanup for motion capture editing. In Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation, ACM, SCA '02, 97--104. Google ScholarDigital Library
- Kulpa, R., and Multon, F. 2005. Fast inverse kinematics and kinetics solver for human-like figures. In Humanoid Robots, 2005 5th IEEE-RAS International Conference on, 38--43.Google Scholar
- Kulpa, R., Multon, F., and Arnaldi, B. 2005. Morphology-independent representation of motions for interactive human-like animation. Computer Graphics Forum, Eurographics 2005 special issue 24, 343--352.Google Scholar
- Maurel, W., and Thalmann, D. 1998. Human shoulder modeling including scapulo-thoracic constraint and joint sinus cones. Computers and Graphics 24, 203--218.Google ScholarCross Ref
- Molla, E., and Boulic, R. 2013. A two-arm coordination model for phantom limb pain rehabilitation. In The 19th ACM Symposium on Virtual Reality Software and Technology, VRST, ACM. Google ScholarDigital Library
- Murray, C., Pettifer, S., Howard, T., Patchick, E., Caillette, F., and Murray, J. 2010. Virtual solutions to phantom problems: Using immersive virtual reality to treat phantom limb pain. In Amputation, Prosthesis Use, and Phantom Limb Pain, C. Murray, Ed. Springer New York, 175--196.Google Scholar
- Raunhardt, D., and Boulic, R. 2011. Immersive singularity-free full-body interactions with reduced marker set. Computer Animation and Virtual Worlds 22, 5, 407--419. Google ScholarDigital Library
- Shin, H. J., Lee, J., Shin, S. Y., and Gleicher, M. 2001. Computer puppetry: An importance-based approach. ACM Transactions on Graphics (TOG) 20, 2, 67--94. Google ScholarDigital Library
- Slonneger, D., Croop, M., Cytryn, J., Kider Jr, J. T., Rabbitz, R., Halpern, E., and Badler, N. I. 2011. Human model reaching, grasping, looking and sitting using smart objects. International Ergonomic Association-Digital Human Modeling.Google Scholar
- Tolani, D., Goswami, A., and Badler, N. I. 2000. Realtime inverse kinematics techniques for anthropomorphic limbs. Graphical Models 62, 353--388.Google ScholarDigital Library
- Tucker, C. A., Bagley, A., Wesdock, K., Church, C., Henley, J., and Masiello, G. 2008. Kinematic modeling of the shoulder complex in tetraplegia. Topics in Spinal Cord Injury Rehabilitation 13, 4, 72--85.Google ScholarCross Ref
- Unzueta, L., Peinado, M., Boulic, R., and Suescun, Á. 2008. Full-body performance animation with sequential inverse kinematics. Graphical models 70, 5, 87--104. Google ScholarDigital Library
- Wang, X., and Verriest, J. P. 1998. A geometric algorithm to predict the arm reach posture for computer-aided ergonomic evaluation. The Journal of Visualization and Computer Animation 9, 1, 33--47.Google ScholarCross Ref
- Welch, G., and Bishop, G. 1995. An introduction to the kalman filter. Tech. rep., Chapel Hill, NC, USA. Google ScholarDigital Library
Index Terms
- Singularity Free Parametrization of Human Limbs
Recommendations
Analytical inverse kinematics with body posture control
This paper presents a novel whole-body analytical inverse kinematics (IK) method integrating collision avoidance and customizable body control for animating reaching tasks in real-time. Whole-body control is achieved with the interpolation of pre-...
Analyzing coordination of upper and lower extremities in human gait
BodyNets '09: Proceedings of the Fourth International Conference on Body Area NetworksHuman gait has been studied in biomechanical and clinical research for a long time. Researchers use many different tools to detect and analyze human walking motions. 3D kinematic data captured by motion capture system is one of powerful tools to analyze ...
Human-like redundancy resolution: An integrated inverse kinematics scheme for anthropomorphic manipulators with radial elbow offset
AbstractAs a mimic of the human arm structure, anthropomorphic manipulators with radial elbow offset (AMREO) are often deployed on humanoid service robots. However, the unique offset leads to difficulties in solving the analytical inverse ...
Comments