Real Time Planning for Humanoid Lower Body Motion

• Main Authors: Pei-Feng Chen, 陳培鋒
• Other Authors: Tsai-Yen Li
• Format: Others
• Language: zh-TW
• Published: 2003
• Online Access: http://ndltd.ncl.edu.tw/handle/43106469523434026279

碩士 === 國立政治大學 === 資訊科學學系 === 91 === Simulating human motion has been an important and challenging topic in computer graphics for many years, especially after the booming of virtual environment applications such as on-line games. Although there has been much research on this topic, most previous systems are only capable of generating a realistic locomotion for a set of given footsteps on a flat ground in an off-line manner. The system we propose in this thesis is a lower-body motion simulator for humanoid capable of planning efficient footsteps and automatically generating collision-free locomotion in real time. First, we observe and analyze the motion characteristics of human walking and use Bézier curves to represent the trajectory of a floating leg during a stride. We use an inverse kinematics approach to compute the corresponding joint angles for a given leg trajectory. By adjusting the control points of the curve, we can change its shape to avoid collisions with the ground. Second, the system also includes a footstep planner that can generate successful and efficient gaits over an uneven terrain with an empirical energy consumption model. Third, according to observation and measured data, we use the “ease-in” and “ease-out” techniques and appropriate timing for each phase of a walking cycle to generate more realistic motions. Finally, we have applied this motion simulator to a virtual environment system with two types of operation modes: on-line simulation and real-time navigation which are verified the efficiency and practicability of such a system.