Analysis and synthesis of bipedal humanoid movement : a physical simulation approach

dc.contributor.advisorBallard, Dana H. (Dana Harry), 1946-
dc.creatorCooper, Joseph L., 1980-en
dc.date.accessioned2013-09-11T20:57:22Zen
dc.date.issued2013-08en
dc.date.submittedAugust 2013en
dc.date.updated2013-09-11T20:57:22Zen
dc.descriptiontexten
dc.description.abstractAdvances in graphics and robotics have increased the importance of tools for synthesizing humanoid movements to control animated characters and physical robots. There is also an increasing need for analyzing human movements for clinical diagnosis and rehabilitation. Existing tools can be expensive, inefficient, or difficult to use. Using simulated physics and motion capture to develop an interactive virtual reality environment, we capture natural human movements in response to controlled stimuli. This research then applies insights into the mathematics underlying physics simulation to adapt the physics solver to support many important tasks involved in analyzing and synthesizing humanoid movement. These tasks include fitting an articulated physical model to motion capture data, modifying the model pose to achieve a desired configuration (inverse kinematics), inferring internal torques consistent with changing pose data (inverse dynamics), and transferring a movement from one model to another model (retargeting). The result is a powerful and intuitive process for analyzing and synthesizing movement in a single unified framework.en
dc.description.departmentComputer Science
dc.format.mimetypeapplication/pdfen
dc.identifier.urihttp://hdl.handle.net/2152/21170en
dc.language.isoen_USen
dc.subjectMotor-controlen
dc.subjectVirtual realityen
dc.subjectSimulationen
dc.subjectInverse kinematicsen
dc.subjectInverse dynamicsen
dc.subjectForward dynamicsen
dc.titleAnalysis and synthesis of bipedal humanoid movement : a physical simulation approachen
thesis.degree.departmentComputer Sciencesen
thesis.degree.disciplineComputer Scienceen
thesis.degree.grantorThe University of Texas at Austinen
thesis.degree.levelDoctoralen
thesis.degree.nameDoctor of Philosophyen

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