Inverse Kinetics for Center of Mass Position Control and Posture Optimization

Abstract

The range of Inverse Kinematics has been extended by integrating the mass distribution information to embody the control of the position of the center of gravity of any articulated figure in single support (open tree structure). The underlying control architecture of main and secondary behaviors (or tasks) is used to associate the position control of the center of gravity with other behaviors. The combined quality of providing realistic postures in real-time improves significantly the potential interaction with human model in virtual reality applications and more generally for real-time video productions.