摘要
给出了一种适应于三维地形的虚拟人体运动控制方法。首先提出了一种新的足迹生成方法,然后以足迹作为约束,基于简化的三段运动模型,分别用不同的方法生成各部分运动:用曲线拟合身体质心运动轨迹;采用增加约束条件的逆运动学方法生成下肢运动;采用正向运动学插值方法生成上肢运动。综合人体的质心运动、下肢运动和上肢运动,合成了和谐的人体运动。最后,介绍了部分实现与实验结果。实验表明,该方法实时性好,逼真性高,适用于实现复杂三维地形环境中实时三维人体运动的生成与控制。
A method for character animation generation on 3D uneven terrain was given. First, a novel footprint generation method was proposed. Then the individual method was adopted to generate the particular motion based on simplified three-level model, that footprint constraint was added. The synthetical curve was introduced to control the motion of center of mass, and the inverse kinematics method with constraints was used to control lower limbs motion, and the forward kinematics method was used to generate upper-body motion. Appreciate human motion was generated by synthezing the motion of center of mass, the motion of lower-body and the motion of upper-body. Finally, some experiment results were demonstrated. The results indicate the generated motion using this method is realistic and real-time, thus the method can be applied to generate and control real-time human motion in complex 3D terrain environment.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2006年第5期1247-1252,1270,共7页
Journal of System Simulation
基金
supported by National Natural Science Fund(60103007) and 863 Program(2001AA115131).
关键词
虚拟现实
人体动画
逆运动学
曲线行走
足迹生成
运动控制
virtual reality
human animation
inverse kinematics
curved path walking
footprint planning
motion control
