A general on-the-fly algorithm for modifying the kinematic tree hierarchy

Jakub Stępień; Andrzej Polański; Konrad Wojciechowski

International Journal of Applied Mathematics and Computer Science (2012)

  • Volume: 22, Issue: 2, page 423-435
  • ISSN: 1641-876X

Abstract

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When conducting a dynamic simulation of a multibody mechanical system, the model definition may need to be altered during the simulation course due to, e.g., changes in the way the system interacts with external objects. In this paper, we propose a general procedure for modifying simulation models of articulated figures, particularly useful when dealing with systems in time-varying contact with the environment. The proposed algorithm adjusts model connectivity, geometry and current state, producing its equivalent ready to be used by the simulation procedure. Furthermore, we also provide a simple usage scenario-a passive planar biped walker.

How to cite

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Jakub Stępień, Andrzej Polański, and Konrad Wojciechowski. "A general on-the-fly algorithm for modifying the kinematic tree hierarchy." International Journal of Applied Mathematics and Computer Science 22.2 (2012): 423-435. <http://eudml.org/doc/208119>.

@article{JakubStępień2012,
abstract = {When conducting a dynamic simulation of a multibody mechanical system, the model definition may need to be altered during the simulation course due to, e.g., changes in the way the system interacts with external objects. In this paper, we propose a general procedure for modifying simulation models of articulated figures, particularly useful when dealing with systems in time-varying contact with the environment. The proposed algorithm adjusts model connectivity, geometry and current state, producing its equivalent ready to be used by the simulation procedure. Furthermore, we also provide a simple usage scenario-a passive planar biped walker.},
author = {Jakub Stępień, Andrzej Polański, Konrad Wojciechowski},
journal = {International Journal of Applied Mathematics and Computer Science},
keywords = {dynamics; articulated system; rigid bodies; system hierarchy; contact; animation},
language = {eng},
number = {2},
pages = {423-435},
title = {A general on-the-fly algorithm for modifying the kinematic tree hierarchy},
url = {http://eudml.org/doc/208119},
volume = {22},
year = {2012},
}

TY - JOUR
AU - Jakub Stępień
AU - Andrzej Polański
AU - Konrad Wojciechowski
TI - A general on-the-fly algorithm for modifying the kinematic tree hierarchy
JO - International Journal of Applied Mathematics and Computer Science
PY - 2012
VL - 22
IS - 2
SP - 423
EP - 435
AB - When conducting a dynamic simulation of a multibody mechanical system, the model definition may need to be altered during the simulation course due to, e.g., changes in the way the system interacts with external objects. In this paper, we propose a general procedure for modifying simulation models of articulated figures, particularly useful when dealing with systems in time-varying contact with the environment. The proposed algorithm adjusts model connectivity, geometry and current state, producing its equivalent ready to be used by the simulation procedure. Furthermore, we also provide a simple usage scenario-a passive planar biped walker.
LA - eng
KW - dynamics; articulated system; rigid bodies; system hierarchy; contact; animation
UR - http://eudml.org/doc/208119
ER -

References

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