| HAL-Inria | Publications, software ... of Inria's scientists |
Journal articles
Adaptive Dynamics of Articulated Bodies
Abstract : Forward dynamics is central to physically-based simulation and control of articulated bodies. We present an adaptive algorithm for computing forward dynamics of articulated bodies: using novel motion error metrics, our algorithm can automatically simplify the dynamics of a multi-body system, based on the desired number of degrees of freedom and the location of external forces and active joint forces. We demonstrate this method in plausible animation of articulated bodies, including a large-scale simulation of 200 animated humanoids and multi-body dynamics systems with many degrees of freedom. The graceful simplification allows us to achieve up to two orders of magnitude performance improvement in several complex benchmarks.
Cited literature [33 references]
https://hal.inria.fr/inria-00390315
Contributor : Nano-D Equipe <>
Submitted on : Monday, June 1, 2009 - 6:52:18 PM
Last modification on : Wednesday, January 6, 2021 - 4:10:05 PM
Long-term archiving on: : Friday, June 11, 2010 - 12:07:59 AM
Contributor : Nano-D Equipe <>
Submitted on : Monday, June 1, 2009 - 6:52:18 PM
Last modification on : Wednesday, January 6, 2021 - 4:10:05 PM
Long-term archiving on: : Friday, June 11, 2010 - 12:07:59 AM
File
SIGGRAPH2005.pdf
Files produced by the author(s)