摘要
论文采用有限状态自动机模拟人体运动过程,将人体步行运动抽象为七个运动状态的循环。通过运动学和简单动力学的结合,对每一个运动状态建立运动方程,避免了采用传统的雅克比伪逆矩阵求解易产生的奇异点问题;并且较详细地考虑了运动的时间特性,插值方法改变以往的线性插值,而采用样条插值,使运动更为平滑、真实。
In this paper,finite-state automata is used to simulate the human walking and human walking is abstractly divided into the cycle of seven motion states.By the combination of kinematics and simple dynamics,motion equation is established in each state,which avoids the problem of singularity as a result of using traditional pseudo-inverse of Jacobian.In addition,the temporal characteristic of human walking is discussed in detail,and spline interpolation method is adopted which can make the motion smoother and more realistic.
出处
《计算机工程与应用》
CSCD
北大核心
2005年第3期55-57,共3页
Computer Engineering and Applications
基金
国家自然科学基金资助(编号:60171018)
关键词
运动控制
相位控制
逆运动学
样条插值
motion control,phase control,inverse kinematics,spline interpolation
