Transcript Humanoid

Humanoid
‫دکتر سعید شیری قیداری‬
Amirkabir University of Technology
Computer Engineering & Information Technology Department
Android
My beloved….
Repliee Q2
HUMANOID:
Locomotion
Direct and Inverse kineamtics
Walking 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
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HUMANOID:
Walking Model
Created by Boulic et al. (1990)
Mathematical parameterization coming from
biomechanical data
Spatial, temporal an joint parameters of free
walking
Spatial values normalized by height of thigh
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HUMANOID:
Grasping
Approach based on 3 steps:
Heuristic grasping decision
Inverse kinematics to find final arm posture
Multi-sensor hand
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HUMANOID:
Multi-sensor hand
Sphere multi-sensors with both touch and
length sensor properties
Efficient for actor grasping problem
Group of objects attached to articulated figure
Sensor activated for any collision with other
objects or sensors
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HUMANOID:
Behavior Control
From path planning to complex emotional
interactions.
Animator responsible for design of behaviors
Like theatrical director
initialize animation environment
while (not terminated) {
update scene.
realize perception of environment.
select actions based on sensorial input,
actual state, specific behavior.
execute selected actions.
}
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HUMANOID:
Motion Capture
Flock of birds
Calibration retaining motion realism
Process of perturbation introduced by soft
tissue and muscle displacement
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Representation of Rotation
Before we go further, we should consider a few
different ways of representing orientation
• Each has its own advantages /
disadvantages