Announcement for Downloading full text filePlease respect the Copyright Act.
All digital full text dissertation and theses from this website are authorized the copyright owners. These copyrighted full-text dissertation and theses can be only used for academic, research and non-commercial purposes. Users of this website can search, read, and print for personal usage. In respect of the Copyright Act of the Republic of China, please do not reproduce, distribute, change, or edit the content of these dissertations and theses without any permission. Please do not create any work based upon a pre-existing work by reproduction, Adaptation, Distribution or other means.
URN etd-0812115-151152 Statistics This thesis had been viewed 1035 times. Download 254 times. Author Wei-Ting Chen Author's Email Address No Public. Department Computer Science and Enginerring Year 2014 Semester 2 Degree Master Type of Document Master's Thesis Language zh-TW.Big5 Chinese Page Count 59 Title PHYSICAL SIMULATION OF TWO-DIMENSIONAL BIPED CHARACTER ANIMATION Keyword MOCAP biped locomotion ODE ODE biped locomotion MOCAP Abstract This paper presents an approach for producing the two-dimensional biped character walking animation by using inverse pendulum, Hermite curve, inverse kinematics and based on physical simulation. First we use motion capture data to set initial state, second use inverse pendulum method to find next position for character`s swing leg in order to maintain balance, third use hermite curve to generate character`s foot trajectory and use inverse kinematics to compute desired angle for swing leg, last we compute desired joint angle for all character`s joint and use PD controller to compute torque for them.
In addition to basic walking, this paper presents some methods for character`s balance recover when character get external force, and some details when we simulate biped walking animation. This method can enhance robustness for our system.
Advisor Committee Jyun-ming Chen - advisor
Files Date of Defense 2015-07-24 Date of Submission 2015-08-13