实时可控步长人体腿部连续走动运动生成方法  

Method for Real-time Controllable Step-length Human Leg Continuous Walking Motion Generation

作　　者：荆树旭[1] 张迪[1] 张廷磊 袁绍欣[1] 

机构地区：[1]长安大学信息工程学院,西安710064

出　　处：《系统仿真学报》2015年第6期1190-1198,共9页Journal of System Simulation

基　　金：陕西省自然科学基础研究计划(20120849);中央高校基金(2013G1241108;CHD2011JC068)

摘　　要：基于一个不具备精确步长控制的人体自由走动描述模型,提出一种提据单步步长求解对应直线走动运动的迭代算法,步长连续可变。对于相邻不同步长走动运动之间的平滑过渡问题,采用具有保边界特性的Bezier姿势加权进行解决,能够实时生成可控步长的人体腿部连续直线走动运动。在已知步长序列条件下,实时生成腿部连续直线走动运动;能够在已知直线走动距离条件下,实时规划走动步长与走动步数并完成走动运动的实时生成。通过一个连续跨沟直线走动的实时生成实例验证了提出方法的有效性。Based on a free walking description model which is not capable of step length control,an iteration algorithm was proposed for solving the corresponding straight walking motion according to the given single step length which could he continuously adjusted.The problem of smooth transition between two consecutive walking steps was solved by pose-wise Bezier weighting,which kept the starting and ending poses of a walking step constant.Continuous straight leg walking motion with continuously varied step length could be generated real-timely.The proposed method provided a solution for real-time continuous leg walking motion generation with known step lengths in a straight line,and a solution for straight walking step planning with known walking distance as well.

关 键 词：人体动画 实时运动生成 直线行走 可控步长 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]