Abstract
Curves and surfaces satisfying continuity and smoothness conditions are used in computer graphics to fit spatial data points. In a similar fashion, smooth motions of objects should be available to animators in such a way that the dynamics are correct to the degree required for realism. The motion, like a curve or surface shape, should be controllable by easy manipulations of a set of control parameters or by real-time interaction between the animator and a scene generated by dynamic simulation. In this paper, the objects considered have the form of rigid links joined at hinges to form a tree. This is a reasonable first approximation to human and animal bodies. The equations of motion are formulated with respect to hinge-centered coordinates, and are solved by an efficient technique in time which grows linearly with the number of links.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.References
Armstrong WW (1979) Recursive Solution to the Equations of Motion of an N-link Manipulator. Proc Fifth World Congress on Theory of Machines and Mechanisms, Montreal, vol 2. Am Soc Mech Eng 1343–1346
Badler N (1982) (ed) Special Issue of IEEE Computer Graphics and Applications on Human Body Models and Animation, vol 2, no 9
Burtnyk N, Wein M (1976) Interactive Skeleton Techniques for Enhancing Motion Dynamics in Key Frame Animation. CACM 19:564
Calvert TW, Chapman J, Patla A (1980) The Integration of Subjective and Objective Data in the Animation of Human Movement. Siggraph '80, Proceedings, p 198
Catmull E (1978) The Problems of Computer-Assisted Animation. Siggraph '78 Proceedings, p 348
Goldstein H (1959) Classical Mechanics. Addison-Wesley, Reading MA
Hollerbach JM (1980a) An Iterative Lagrangian Formulation of Manipulator Dynamics. Massachusetts Institute of Technology, AI Laboratory. A.I. Memo No 533. Revised March 1980
Hollerbach JM (1980b) A Recursive Lagrangian Formulation of Manipulator Dynamics and a Comparative Study of Dynamics Formulation. IEEE Trans. on Systems, Man and Cybernetics. SMC-10, 11, pp 730–736
Lake R (1985) Producing a Shaded Tubular Man, Department of Computing Science, University of Alberta
Luh J, Walker M, Paul R (1979) On-line Computational Scheme for Mechanical Manipulators. 2nd IFAC/IFIP Symposium on Information Control Problems in Manufacturing Technology. Stuttgart, Germany
Paul P (1981) Robot Manipulators: Mathematics, Programming, and Control. MIT Press, Cambridge, MA
Schmidt RA (1982) Motor Control and Learning: A Behavioral Emphasis. Human Kinetics Publishers, Champaign Illinois
Zeltzer D (1982) Motor Control Techniques for Figure Animation. IEEE Computer Graphics and Applications 2:53
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Armstrong, W.W., Green, M.W. The dynamics of articulated rigid bodies for purposes of animation. The Visual Computer 1, 231–240 (1985). https://doi.org/10.1007/BF02021812
Issue Date:
DOI: https://doi.org/10.1007/BF02021812