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Book
Simulating Humans: Computer Graphics, Animation, and Control
"This book is intended for human factors engineers requiring current knowledge of how a computer graphics surrogate human can augment their analyses of designed environments. It will also help inform design engineers of the state-of-the-art in human figure modeling, and hence of the human-centered design central to the emergent notion of Concurrent Engineering. Finally, it documents for the computer graphics community a major research effort in the interactive control and motion specification of articulated human figures."
Real-time Traffic| Added | 16 Feb 2009 |
| Updated | 16 Feb 2009 |
| Authors | Norman I. Badler, Cary B. Phillips, Bonnie L. Webber |
Table of Contents
1.1 Why Make Human Figure Models?
1.2 Historical Roots
1.3 What is Currently Possible?
1.4 Manipulation, Animation, and Simulation
1.5 What Did We Leave Out?
2.1 Geometric Body Modeling
2.1.1 Surface and Boundary Models
2.1.2 Volume and CSG Models
2.1.3 The Principal Body Models Used
2.2 Representing Articulated Figures
2.2.1 Background
2.2.2 The Terminology of Peabody
2.2.3 The Peabody Hierarchy
2.2.4 Computing Global Coordinate Transforms
2.2.5 Dependent Joints
2.3 A Flexible Torso Model
2.3.1 Motion of the Spine
2.3.2 Input Parameters
2.3.3 Spine Target Position
2.3.4 Spine Database
2.4 Shoulder Complex
2.4.1 Primitive Arm Motions
2.4.2 Allocation of Elevation and Abduction
2.4.3 Implementation of Shoulder Complex
2.5 Clothing Models
2.5.1 Geometric Modeling of Clothes
2.5.2 Draping Model
2.6 The Anthropometry Database
2.6.1 Anthropometry Issues
2.6.2 Implementation of Anthropometric Scaling
2.6.3 Joints and Joint Limits
2.6.4 Mass
2.6.5 Moment of Inertia
2.6.6 Strength
2.7 The Anthropometry Spreadsheet
2.7.1 Interactive Access Anthropometric Database
2.7.2 SASS and the Body Hierarchy
2.7.3 The Rule System for Segment Scaling
2.7.4 Figure Creation
2.7.5 Figure Scaling
2.8 Strength and Torque Display
2.8.1 Goals of Strength Data Display
2.8.2 Design of Strength Data Displays
3.1 Direct Manipulation
3.1.1 Translation
3.1.2 Rotation
3.1.3 Integrated Systems
3.1.4 The Jack Direct Manipulation Operator
3.2 Manipulation with Constraints
3.2.1 Postural Control using Constraints
3.2.2 Constraints for Inverse Kinematics
3.2.3 Features of Constraints
3.2.4 Inverse Kinematics and the Center of Mass
3.2.5 Interactive Methodology
3.3 Inverse Kinematic Positioning
3.3.1 Constraints as a Nonlinear Programming Problem
3.3.2 Solving the Nonlinear Programming Problem
3.3.3 Assembling Multiple Constraints
3.3.5 An Example
3.4 Reachable Spaces
3.4.1 Workspace Point Computation Module
3.4.2 Workspace Visualization
3.4.3 Criteria Selection
4.1 An Interactive System for Postural Control
4.1.1 Behavioral Parameters
4.1.2 Passive Behaviors
4.1.3 Active Behaviors
4.2 Interactive Manipulation With Behaviors
4.2.1 The Feet
4.2.2 The Center of Mass and Balance
4.2.3 The Torso
4.2.4 The Pelvis
4.2.5 The Head and Eyes
4.2.6 The Arms
4.2.7 The Hands and Grasping
4.3 The Animation Interface
4.4 Human Figure Motions
4.4.1 Controlling Behaviors Over Time
4.4.2 The Center of Mass
4.4.3 The Pelvis
4.4.4 The Torso
4.4.5 The Feet
4.4.6 Moving the Heels
4.4.7 The Arms
4.4.8 The Hands
4.5 Virtual Human Control
5.1 Forward Simulation with Behaviors
5.1.1 The Simulation Model
5.1.2 The Physical Execution Environment
5.1.3 Networks of Behaviors and Events
5.1.4 Interaction with Other Models
5.1.5 The Simulator
5.1.6 Implemented Behaviors
5.1.7 Simple human motion control
5.2 Locomotion
5.2.1 Kinematic Control
5.2.2 Dynamic Control
5.2.3 Curved Path Walking
5.2.4 Examples
5.3 Strength Guided Motion
5.3.1 Motion from Dynamics Simulation
5.3.2 Incorporating Strength and Comfort into Motion
5.3.3 Motion Control
5.3.4 Motion Strategies
5.3.5 Selecting the Active Constraints
5.3.6 Strength Guided Motion Examples
5.3.7 Evaluation of this Approach
5.3.8 Performance Graphs
5.3.9 Coordinated Motion
5.4 Collision-Free Path and Motion Planning
5.4.1 Robotics Background
5.4.2 Using Cspace Groups
5.4.3 The Basic Algorithm
5.4.4 The Sequential Algorithm
5.4.5 The Control Algorithm
5.4.6 The Planar Algorithm
5.4.8 Playing Back the Free Path
5.4.10 Examples
5.4.11 Completeness and Complexity
5.5 Posture Planning
5.5.2 Motions and Primitive Motions
5.5.3 Motion Dependencies
5.5.4 The Control Structure of Posture Planning
5.5.5 An Example of Posture Planning
6.1 Performing Simple Commands
6.1.1 Task Environment
6.1.2 Linking Language and Motion Generation
6.1.3 Specifying Goals
6.1.4 The Knowledge Base
6.1.5 The Geometric Database
6.1.6 Creating an Animation
6.1.7 Default Timing Constructs
6.2 Language Terms for Motion and Space
6.2.1 Simple Commands
6.2.2 Representational Formalism
6.2.3 Sample Verb and Preposition Specifications
6.2.4 Processing a sentence
6.2.5 Summary
6.3 Task-Level Simulation
6.3.1 Programming Environment
6.3.2 Task-actions
6.3.3 Motivating Some Task-Actions
6.3.4 Domain-specific task-actions
6.3.5 Issues
6.3.6 Summary
6.4 A Model for Instruction Understanding
7.1 A Roadmap Toward the Future
7.1.1 Interactive Human Models
7.1.2 Reasonable Biomechanical Properties
7.1.3 Human-like Behaviors
7.1.4 Simulated Humans as Virtual Agents
7.1.5 Task Guidance through Instructions
7.1.6 Natural Manual Interfaces and Virtual Reality for Animation
7.1.8 Coordinating Multiple Agents
7.2 Conclusion
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