USING DYNAMIC ANALYSIS TO ANIMATE ARTICULATED BODIES SUCH AS HUMANS AND ROBOTS.

Abstract

A method of animating articulated (linked) bodies such as humans, animals and robots using dynamic analysis is presented. Dynamic analysis predicts motion by analyzing the effect of forces and torques on mass; this is different than the usual kinematic method of specifying motion, where positions, velocities, and accelerations are given without considering the forces and torques producing motion. It is difficult to kinematically specify realistic motion, particularly in cases where the body is moving fast, in complex patterns, or with great freedom. In such cases, animation based on dynamic analysis, though more expensive, may be preferable. Animation using dynamic analysis is also useful in the design and control of robots and other mechanical manipulators, and for analyzing the movement of humans and animals in biomechanics and sports.