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Motion Balance Filtering
Author(s) -
Tak Seyoon,
Song Ohyoung,
Ko HyeongSeok
Publication year - 2000
Publication title -
computer graphics forum
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.578
H-Index - 120
eISSN - 1467-8659
pISSN - 0167-7055
DOI - 10.1111/1467-8659.00436
Subject(s) - zero moment point , trajectory , motion (physics) , computer science , dynamic balance , balance (ability) , constraint (computer aided design) , control theory (sociology) , process (computing) , moment (physics) , computer vision , mathematics , artificial intelligence , control (management) , engineering , humanoid robot , physics , medicine , physical medicine and rehabilitation , mechanical engineering , geometry , classical mechanics , astronomy , robot , operating system
This paper presents a new technique called motion balance filtering, which corrects an unbalanced motion to a balanced one while preserving the original motion characteristics as much as possible. Differently from previous approaches that deal only with the balance of static posture, we solve the problem of balancing a dynamic motion. We achieve dynamic balance by analyzing and controlling the trajectory of the zero moment point (ZMP). Our algorithm consists of three steps. First, it analyzes the ZMP trajectory to find out the duration in which dynamic balance is violated. Dynamic imbalance is identified by the ZMP trajectory segments lying out of the supporting area. Next, the algorithm modifies the ZMP trajectory by projecting it into the supporting area. Finally, it generates the balanced motion that satisfies the new ZMP constraint. This process is formulated as a constrained optimization problem so that the new motion resembles the original motion as much as possible. Experiments prove that our motion balance filtering algorithm is a useful method to add physical realism to a kinematically edited motion.