Baerlocher, P.Boulic, R.2007-01-162007-01-162007-01-16200010.1109/ROBOT.2000.846413https://infoscience.epfl.ch/handle/20.500.14299/239140In 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.ManipulatorsRedundancyKinematicsMotion controlEnd effectorsUniversal jointsComputer simulationAnimationComputer aided designtext::conference output::conference proceedings::conference paper