Inverse Kinetics for Center of Mass Position Control and Posture Optimization

  title={Inverse Kinetics for Center of Mass Position Control and Posture Optimization},
  author={Ronan Boulic and Ramon Mas},
In this report we focus on interactive d esign of realistic postures in the sense of static analysis. Our approach only requires the topological, geometrical, and mass distribution information of the articulated figure. The range of Inverse Kinematics has been extended to embody the control of the position of the center of gravity of any articulated figure in single support (open tree stucture). The framework of Direct and Inverse Kinematics is still valid in this new context because it… CONTINUE READING
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