Kuangyou B. Cheng

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We present a physics-based approach to generate 3D biped character animation that can react to dynamical environments in real time. Our approach utilizes an inverted pendulum model to online adjust the desired motion trajectory from the input motion capture data. This online adjustment produces a physically plausible motion trajectory adapted to dynamic(More)
The effect of joint strengthening on standing vertical jump height is investigated by computer simulation. The human model consists of five rigid segments representing the feet, shanks, thighs, HT (head and trunk), and arms. Segments are connected by frictionless revolute joints and model movement is driven by joint torque actuators. Each joint torque is(More)
The role of arms in compliant-surface jumping for maximizing backward somersault rotations is studied using multi-segment models and is applied to springboard diving. The surface (springboard) is modeled by a rigid bar with a rotational spring with a hinged end and point mass at the tip. Planar four- and five-segment human models are used (with the fifth(More)
A simple model of standing dives is used to investigate optimal jumping strategies from compliant surfaces and applied to springboard diving. The human model consists of a massless leg actuated by knee torque, and a lumped torso mass centered above the leg. The springboard is modeled as a mass-spring system. Maximum jump height for a male and a female is(More)
Balance recovery techniques are useful not only in preventing falls but also in many sports activities. The step strategy plays an important role especially under intense perturbations. However, relatively little is known about the effect of arm swing on stepping balance recovery although considerable arm motions have been observed. The purpose of this(More)
A multi-segment model is used to investigate optimal compliant-surface jumping strategies and is applied to springboard standing jumps. The human model has four segments representing the feet, shanks, thighs, and trunk-head-arms. A rigid bar with a rotational spring on one end and a point mass on the other end (the tip) models the springboard. Board tip(More)
In human balance recovery, different strategies have been proposed with generally overlooked knee motions but extensive focus on the ankle, hip, and step strategies. It is not well understood whether maintaining balance is regulated at the lower "muscular-articular" level of coordinating segment joints or at a higher level of controlling whole body(More)
We investigated joint coordination differences between Taekwondo back kicks and jumping back kicks, and how jumping (in performing the latter) would alter engaging ground reaction forces (GRF) in executing kicking. Ten skilful athletes volunteered to perform both kinds of kicking within the shortest time for three successful trials. Three high-speed cameras(More)
Although considerable arm movements have been observed at loss of balance, research on standing balance focused primarily on the ankle and hip strategies. This study aimed to investigate the effect of arm motion on feet-in-place balance recovery. Participants stood on a single force plate and leaned forward with a straight body posture. They were then(More)