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Introduction to CC111 Computer Animation

GIST School of Information and Communications Sung-Hee Lee

Course Outline
Class hour: Tue. & Thur. 10:30-12:00 Classroom: B-201 Textbook
A mathematical introduction to robotic manipulation, Murray, Li and Sastry, CRC Press [download:
http://www.cds.caltech.edu/~murray/mlswiki/index.php/First_edition]

Grading policy
Exams: 40% Quiz and programming assignment: 60%
Quiz will be given almost every week You must study this course every week to follow the class There will be ~3 programming assignments

Course webpage
http://infcom.gist.ac.kr/~graphics/?mid=ca11

Course Outline
What you will learn
How to model and control physics-based human character for computer animation Related with robotics, control, biomechanics, etc. Topics
Rigid body Articulated body system Kinematics (forward, inverse)

Dynamics (forward, inverse)


Basic control

Cognitive Behavioral

Balance, locomotion, behavioral animation, etc.

Biomechanical
Dynamic Kinematic Geometric

Prerequisite
Linear algebra
OpenGL

Hierarchy of character modeling

Articulated Body System


Animals can be modeled as an articulated body system

Components of articulated body system


Link: rigid body

Joint: connecting links


Actuator
Mechanical: electric, pneumatic, hydraulic motors Biological: muscles

Joints
Joint defines(or constrains) relative motion of connecting links
Spherical (3 DoF) Revolute (1 DoF) Universal (2 DoF)

Planar (3 DoF)

Prismatic (1 DoF)

Cylindrical (2 DoF)

Screw (1 DoF)

Base link & End Effectors


An articulated body system can be represented as a graph or a tree
pelvis neck head femur tibia
humerus lower arm

foot

hand
End effector

Base link: root node of a graph


Typically pelvis is chosen as a base link

End effector: terminal link


Leaf node of a graph (tree) Head, hand, foot, etc
Base link

Kinematics vs. Dynamics


Kinematics ()
Deals with motion without concerning actuation Forward kinematics Inverse kinematics
forward
Joint angles inverse End effector pose

Given joint angles, compute pose of the end effector Given desired pose of the end effector, compute necessary joint angles

Dynamics

Deals with input force and output motion Forward dynamics


Inverse dynamics
Given input force, compute resulting acceleration of a system
Actuator force

forward Acceleration inverse

Given desired motion (acceleration) of a system, compute necessary input force

Configuration Space
Configuration
Complete specification of the pose of a robot

Configuration space
Set of all possible configurations of a robot Dimension of conf. space = DoF of a robot = minimum number of parameters to specify configuration

y (x,y,) q1

q2

q3

x
C=R2xS1={(x,y,)| (x,y)R2, [0,2]} R: real number, S: 1-dimensional circle

q4 C=S1xS1xS1xS1={(q1,q2,q3,q4)}

Constraint
Closed loop system
q2
L1

q3 q1 q4 q1

q2

q3 q4

Constraint equations

This is a corresponding open loop system

1 cos 1 + 2 cos(1 + 2 ) + 3 cos(1 + 2 + 3 ) + 4 cos(1 + 2 + 3 + 4 ) = 0 1 sin 1 + 2 sin(1 + 2 ) + 3 sin(1 + 2 + 3 ) + 4 sin(1 + 2 + 3 + 4 ) = 0

g(q)=0R3

1 + 2 + 3 + 4 +=0

DoF of closed loop system = DoF of open loop system number of contraints This example : 4-3=1
(number of constraints) (DoF of open loop system)

Holonomic & Nonholonomic Constraints


Holonomic constraints
Has the form of g(q)=0

Nonholonomic constraints
Cannot have the form of g(q)=0 Example
Configuration space: q=(x,y,,)
Constraint eq.

Cannot be the form of g(q)=0

Homework
Read Chapter 2 of Introduction to robotics, by Park and Lynch
Can download from the course web page

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