Simulating human reach is still challenging when considering complex interactions with the environment. Standard approaches involve inverse kinematics (IK) methods and usually require a complete but exponential cost search in configuration space. In ergonomic applications, both “naturalness” and interactive performance are important. We describe a real-time, collision-free, sternum-rooted IK solution for an articulated human figure based on motion capture data, human strength models, and multi-joint coordination functions. Movement paths are discovered through spatial search in a partitioned workspace. The system generates natural collision-free reach motions in real-time. The resulting animations and statistics demonstrate the efficacy of this approach.


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    Title :

    Applying Empirical Data on Upper Torso Movement to Real-time Collision-free Reach Tasks


    Additional title:

    Sae Technical Papers


    Contributors:

    Conference:

    2005 Digital Human Modeling for Design and Engineering Symposium ; 2005



    Publication date :

    2005-06-14




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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