Applying Empirical Data on Upper Torso Movement to Real-time Collision-free Reach Tasks

@inproceedings{Zhao2005ApplyingED,
  title={Applying Empirical Data on Upper Torso Movement to Real-time Collision-free Reach Tasks},
  author={Liming Zhao and Ying Liu and Norman I. Badler},
  year={2005}
}
Simulating human reach is still challenging when considering complex interactions with the environment. Standard approaches involve inverse kinematics (IK) methods and usually require a complete but exponential cost search in configuration space. In ergonomic applications, both "naturalness" and interactive performance are important. We describe a real-time, collision-free, sternum-rooted IK solution for an articulated human figure based on motion capture data, human strength models, and multi… CONTINUE READING

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