政大機構典藏-National Chengchi University Institutional Repository(NCCUR):Item 140.119/36377

政大機構典藏-National Chengchi University Institutional Repository(NCCUR):Item 140.119/36377

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政大典藏 > College of Informatics > Department of Computer Science > Theses > Item 140.119/36377

Please use this identifier to cite or link to this item: https://nccur.lib.nccu.edu.tw/handle/140.119/36377

Title:	即時自動產生人體下半身動作的運動計劃 Real Time Planning for Humanoid Lower Body Motion
Authors:	陳培鋒 Pei-Feng Chen
Contributors:	李蔡彥 Tsai-Yen Li 陳培鋒 Pei-Feng Chen
Keywords:	即時模擬人體走路動作運動計劃器反向關節運動貝茲曲線控制行進效率行走步伐節奏即時操控
Date:	2002
Issue Date:	2009-09-18 18:26:15 (UTC+8)
Abstract:	在製作動畫上，模擬人體的運動一直是困難的課題；但在如線上遊戲等急速成長的虛擬環境應用中，人物運動的動畫常是不可或缺的一環。過去在此方面的相關研究雖然為數不少，但大多數的系統皆只適用於某特定的地形或事先給定的腳步落點；能根據地形特徵而自動產生對應之行走運動者並不常見。本論文提議的系統，便是一個能即時模擬人體走路動作的運動計劃器。我們以反向關節運動的方式，分析人體在不平路面上行走時的運動特徵，並以貝茲曲線表示懸浮腿的運動軌跡。透過貝茲曲線控制點的調整，可以讓下半身的肢體避免碰觸到凸起的路面。其次，此系統也包含了腳步計劃的機制，讓虛擬人物能以行進效率為準則，計劃未來數步內保證可行的步伐。再者，我們根據實際測量的資料與觀察，找出行進過程中每個階段在時間分配上的差異，並利用製作動畫的原理，加入緩入與緩出的概念，以調整行走步伐的節奏，使動畫更具真實感。最後，我們將此模擬系統套用於「線上模擬」與「即時操控」兩種不同模式的應用系統，以驗證此系統之即時性與實用性。 Simulating human motion has been an important and challenging topic in computer graphics for many years, especially after the booming of virtual environment applications such as on-line games. Although there has been much research on this topic, most previous systems are only capable of generating a realistic locomotion for a set of given footsteps on a flat ground in an off-line manner. The system we propose in this thesis is a lower-body motion simulator for humanoid capable of planning efficient footsteps and automatically generating collision-free locomotion in real time. First, we observe and analyze the motion characteristics of human walking and use Bézier curves to represent the trajectory of a floating leg during a stride. We use an inverse kinematics approach to compute the corresponding joint angles for a given leg trajectory. By adjusting the control points of the curve, we can change its shape to avoid collisions with the ground. Second, the system also includes a footstep planner that can generate successful and efficient gaits over an uneven terrain with an empirical energy consumption model. Third, according to observation and measured data, we use the “ease-in” and “ease-out” techniques and appropriate timing for each phase of a walking cycle to generate more realistic motions. Finally, we have applied this motion simulator to a virtual environment system with two types of operation modes: on-line simulation and real-time navigation which are verified the efficiency and practicability of such a system. 第一章導論 1.1 研究動機與目的 1.2 問題描述 1.3 系統特色與論文貢獻 1.4 本論文的章節架構第二章相關研究 2.1 背景 2.2 機構學方法 2.3 動力學方法 2.4 歷年相關研究第三章系統總覽 3.1 系統流程與架構 3.2 系統之輸入參數 3.3 元件介紹 3.3.1 步伐產生元件 3.3.2 動作生成元件 3.3.3 步伐軌跡調整元件第四章步伐的計劃 4.1 腳步落點分析 4.2 腳步計劃器第五章動作的生成 5.1 人體下半身運動的觀察 5.2 反向關節運動 5.3 關鍵格的產生 5.3.1 第一關鍵格 5.3.2 第二關鍵格 5.3.3 第三關鍵格 5.4 內插方法 5.4.1 內插第一關鍵格與第二關鍵格 5.4.2 內插第二關鍵格與第三關鍵格 5.4.3 內插第三關鍵格與下一步之第一關鍵格 5.5 避碰方法 5.6 行走步伐節奏 5.7 行走步伐內插分析 5.8 行走於彎曲路徑第六章實驗成果 6.1 系統介面 6.2 平地行走實例 6.3 不平路面行走實例 6.3.1 上樓梯與上坡之行走實例 6.3.2 下樓梯與下坡行走實例 6.4 腳步計劃實例 6.5 腳步計劃器之效率 6.6 彎曲路徑行走實例第七章虛擬環境中的人體運動計劃 7.1 路徑規劃系統 7.2 即時操控環境 7.3 實作考量 7.3.1 地形剖面圖 7.3.2 腳步計劃器第八章結論與未來發展 8.1 結論 8.2 未來發展參考文獻附錄A：貝茲曲線
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Description:	碩士國立政治大學資訊科學學系 90753009 91
Source URI:	http://thesis.lib.nccu.edu.tw/record/#G0090753009
Data Type:	thesis
Appears in Collections:	[Department of Computer Science ] Theses

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