A general on-the-fly algorithm for modifying the kinematic tree hierarchy

• Autorzy: Jakub Stępień , Andrzej Polański , Konrad Wojciechowski
• Języki publikacji: EN

Abstrakty

EN

When conducting a dynamic simulation of a multibody mechanical system, the model definition may need to be altered during the simulation course due to, e.g., changes in the way the system interacts with external objects. In this paper, we propose a general procedure for modifying simulation models of articulated figures, particularly useful when dealing with systems in time-varying contact with the environment. The proposed algorithm adjusts model connectivity, geometry and current state, producing its equivalent ready to be used by the simulation procedure. Furthermore, we also provide a simple usage scenario-a passive planar biped walker.

Słowa kluczowe

EN

dynamics; articulated system; rigid bodies; system hierarchy; contact; animation

• Wydawca: University of Zielona Gora Press
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2012
• Tom: 22
• Numer: 2
• Strony: 423-435

Daty

wydano

2012

otrzymano

2011-03-28

poprawiono

2011-07-11

Twórcy

autor

Jakub Stępień

• Institute of Informatics, Silesian University of Technology, Akademicka 16, 44-100 Gliwice, Poland
• Polish-Japanese Institute of Information Technology, Aleja Legionów 2, 41-902 Bytom, Poland

autor

Andrzej Polański

• Institute of Informatics, Silesian University of Technology, Akademicka 16, 44-100 Gliwice, Poland
• Polish-Japanese Institute of Information Technology, Aleja Legionów 2, 41-902 Bytom, Poland

autor

Konrad Wojciechowski

• Institute of Informatics, Silesian University of Technology, Akademicka 16, 44-100 Gliwice, Poland
• Polish-Japanese Institute of Information Technology, Aleja Legionów 2, 41-902 Bytom, Poland

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Identyfikatory

DOI

10.2478/v10006-012-0032-7