ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2P1-O10
会議情報
2P1-O10 勾配計算分解に基づく高速最適化による運動時系列からの全身幾何定数と逆運動学の同時解法(デジタルヒューマン)
鮎澤 光池上 洋介中村 仁彦
著者情報
会議録・要旨集 フリー

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抄録
This paper proposes a method to compute inverse kinematics of a multi-body system at all given time-series instances and identify its geometric parameters at the same time. The geometric parameters are represented by the virtual generalized coordinates which are constant during all time sequences. The method solves the large-scale inverse kinematics to compute the all the generalized coordinates of all instances and the constant virtual coordinates. The inverse kinematics computation is accelerated by decomposed gradient computation based on recursive Newton-Euler formulation. The method was tested to identify the parameters of a 34-DOF human model using a motion capture system, and the results are to be shown.
著者関連情報
© 2012 一般社団法人 日本機械学会
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