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—This paper presents a computational technique for creating whole-body motions of human and animal characters without reference motion. Our work enables animators to generate a natural motion by dragging a link to an arbitrary position with any number of links pinned in the global frame, as well as other constraints such as desired joint angles and joint(More)
This paper introduces an open architecture hu-manoid robotics platform (OpenHRP for short) on which various building blocks of humanoid robotics can be investigated. OpenHRP is a virtual humanoid robot platform with a compatible humanoid robot, and consists of a simulator of humanoid robots and motion control library for them which can also be applied to a(More)
—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.(More)
— Database of human motion has been widely used for recognizing human motion and synthesizing humanoid motions. In this paper, we propose a data structure for storing and extracting human motion data and demonstrate that the database can be applied to the recognition and motion synthesis problems in robotics. We develop an efficient method for building a(More)
— This paper presents a numerically robust algorithm for solving linear complementarity problems (LCPs), and applies it to simulation of frictional contacts of articulated rigid bodies each modeled as a general polygonal object. We first point out two problems of the popular pivot-based LCP solver called Lemke Algorithm and its extension with lexicographic(More)
Humanoid robots are required to make a variety of dynamic and even expressive motions in changing en-vi,vnments. However, the conventional methods for generating humanoid motions fail to achieve' Ibis re-qaitvmcnt since they can only generate quite artificial and predefined motions through rather complicated optimization processes. In this paper, we propose(More)
Even such simple tasks as placing a box on a shelf are difficult to animate, because the animator must carefully position the character to satisfy geometric and balance constraints while creating motion to perform the task with a natural-looking style. In this paper, we explore an approach for animating characters manipulating objects that combines the(More)
This paper presents a practical motion planner for humanoids and animated human gures. Modeling human motions as a sum of rigid body and cyclic motions, we identify body postures that represent the rigid-body part of typical motion patterns. This leads to a model of the conguration space that consists of a multi-layered grid, each layer corresponding to a(More)
This paper presents the realtime processing of optical motion capture with pan-tilt camera t r acking. Pan-tilt 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(More)