Humanoid

قیداری شیری سعید دکتر

Amirkabir University of TechnologyComputer Engineering & Information Technology Department

AndroidAndroid

My beloved…. My beloved….

Repliee Q2Repliee Q2

HUMANOID: LocomotionDirect and Inverse kineamticsWalking 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

HUMANOID: Walking ModelCreated by Boulic et al. (1990)Mathematical parameterization coming from

biomechanical dataSpatial, temporal an joint parameters of free

walkingSpatial values normalized by height of thigh

HUMANOID: GraspingApproach based on 3 steps:Heuristic grasping decisionInverse kinematics to find final arm postureMulti-sensor hand

HUMANOID: Multi-sensor handSphere multi-sensors with both touch and

length sensor propertiesEfficient for actor grasping problemGroup of objects attached to articulated figureSensor activated for any collision with other

objects or sensors

HUMANOID: Behavior ControlFrom path planning to complex emotional

interactions.Animator responsible for design of behaviorsLike theatrical director

initialize animation environmentwhile (not terminated) { update scene. realize perception of environment. select actions based on sensorial input,

actual state, specific behavior. execute selected actions.}

HUMANOID: Motion CaptureFlock of birdsCalibration retaining motion realismProcess of perturbation introduced by soft

tissue and muscle displacement

Representation of RotationBefore we go further, we should consider a few

different ways of representing orientation

• Each has its own advantages / disadvantages