This book focuses on two issues related to human figures realtime dynamicscomputation and interactive motion generation. In spite of the growing interestin huma... » 

This book focuses on two issues related to human figures realtime dynamicscomputation and interactive motion generation. In spite of the growing interestin human figures as both physical robots and virtual characters standardalgorithms and tools for their kinematics and dynamics computation have notbeen investigated very much. Simulating and Generating Motions of HumanFigures presents original algorithms to simulate analyze generate andcontrol motions of human figures all focusing on realtime and interactivecomputation. The book provides both practical methods for contactcollisionsimulation essential for the simulation of humanoid robots and virtualcharacters and a general framework for online interactive motion generation ofhuman figures based on the dynamics simulation algorithms. TOCIntroduction.Inverse and Forward Dynamics of General Closed Kinematic Chains. LinkConnectivity Description for StructureVarying Kinematic Chains. Parallel OlogN Formulation of Forward Dynamics. Interactive Computation of ContactForce for Rigid CollisionContact Model. Implicit Integration for SoftCollisionContact Model. Interactive Motion Generation via Dynamics Filter.Synergetic Choreography of Human Figures. Synergetic Choreography withDynamics. Controlling a Marionette with Human Motion Capture Data. Conclusionand Future Work. «