An Interactive Tool for the Design of Human Free-Walking Trajectories

This paper presents an interactive tool dedicated to the design of walking trajectories for human figures. It uses a global human free-walking model built from experimental data on a wide range of normalized velocities. This tool is particularly efficient in that the higher level of the walking model work independenly from the effective play of the low level joint trajectories by the figure. This independence is gained by means of a transfer function calibrating the figure's normalized velocity with respect to the theoretical normalized velocity. Two real-time display functionnalities greatly eases the design of trajectories in complex environments.First the current range of permitted velocities indicates the potentialities of the local dynamic of the walking behavior. Second the set of step locations shown on the desired path allows precise placement

Human Free-Walking Model For A Real-Time Interactive Design Of Gaits

This paper presents a human walking model built from experimental data based on a wide range of normalized velocities. The model is structured in two levels. At a first level, global spatial and temporal characteristics (normalized length and step duration) are generated. At the second level, a set of parameterized trajectories produce both the position of the body in the space and the internal body configuration in particular the pelvis and the legs. This is performed for a standard structure and an average configuration of the human body. Th

Primitive Geometric Operations on Planar Algebraic Curves with Gaussian Approximations

We present a curve approximation method which approximates each planar algebraic curve segment by discrete curve points at each of which the curve has its gradient from a set of uniformly distributed normals. This method, called Gaussian Approximation (GAP), provides efficient algorithms for various primitive geometric operations, especially for those related with gradients such as common tangent and convolution computations, on planar algebraic curve segments. The hierarchy of unit gradients gives the corresponding hierarchy of CAP. The approximation error at each level of the hierarchy can be modeled in the representation of GAP itself, and we can use this structure to dynamically control the precision and efficiency of geometric computation with CAP. We implemented various primitive geometric operations on planar algebraic curve segments with GAP representations on SUN4/Sparc station using C