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conference paper
Kinematic control of the mass properties of redundant articulated bodies
2000
Proceedings - IEEE International Conference on Robotics and Automation
In this paper we show how the mass properties of an articulated body, such as its center of mass and its moments of inertia, may be manipulated like any conventional end effector, with well-known iterative, numerical techniques. Within our interactive simulation testbed software, we illustrate this tool for the geometrical design of rigid bodies with prescribed mass properties, and for the manipulation of human figures in computer animation.
Type
conference paper
Authors
Publication date
2000
Published in
Proceedings - IEEE International Conference on Robotics and Automation
Volume
3
Start page
2557
End page
2562
Note
Swiss Federal Inst of Technology, Lausanne, Switz
Peer reviewed
REVIEWED
Available on Infoscience
January 16, 2007
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