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Humanoid
قیداری شیری سعید دکتر
Amirkabir University of TechnologyComputer Engineering & Information Technology Department
AndroidAndroid
My beloved…. My beloved….
Repliee Q2Repliee Q2
HUMANOID: LocomotionDirect and Inverse kineamticsWalking in which body’s center of gravity
moves altenately on right side and left side
At all times at least one foot in contact with floor and during brief phase both
feet in contact with floor
HUMANOID: Walking ModelCreated by Boulic et al. (1990)Mathematical parameterization coming from
biomechanical dataSpatial, temporal an joint parameters of free
walkingSpatial values normalized by height of thigh
HUMANOID: GraspingApproach based on 3 steps:Heuristic grasping decisionInverse kinematics to find final arm postureMulti-sensor hand
HUMANOID: Multi-sensor handSphere multi-sensors with both touch and
length sensor propertiesEfficient for actor grasping problemGroup of objects attached to articulated figureSensor activated for any collision with other
objects or sensors
HUMANOID: Behavior ControlFrom path planning to complex emotional
interactions.Animator responsible for design of behaviorsLike theatrical director
initialize animation environmentwhile (not terminated) { update scene. realize perception of environment. select actions based on sensorial input,
actual state, specific behavior. execute selected actions.}
HUMANOID: Motion CaptureFlock of birdsCalibration retaining motion realismProcess of perturbation introduced by soft
tissue and muscle displacement
Representation of RotationBefore we go further, we should consider a few
different ways of representing orientation
• Each has its own advantages / disadvantages