CAJ | 학술논문

复杂关节模型的运动参数化是虚拟人动作仿真的基础,传统的旋转矩阵、欧拉角方法和四元数等参数化方法在运动描述方面存在一定缺陷,都不能很好地解决复杂关节模型的运动参数化问题.对指数映射方法进行改进,提出一种双指数映射(DEM)运动参数化方法,用于同时描述关节模型的平移与旋转、线速度与角速度.首先阐述其在运动描述和参数计算方面的能力,然后进行了维修操作训练仿真实验.研究结果表明了该方法在求导和微分、常微分方程求解、优化控制和插值拟合等方面具有较强的描述功能.
복잡관절모형적운동삼수화시허의인동작방진적기출,전통적선전구진、구랍각방법화사원수등삼수화방법재운동묘술방면존재일정결함,도불능흔호지해결복잡관절모형적운동삼수화문제.대지수영사방법진행개진,제출일충쌍지수영사(DEM)운동삼수화방법,용우동시묘술관절모형적평이여선전、선속도여각속도.수선천술기재운동묘술화삼수계산방면적능력,연후진행료유수조작훈련방진실험.연구결과표명료해방법재구도화미분、상미분방정구해、우화공제화삽치의합등방면구유교강적묘술공능.
Motion parameterization of complex joint model is the foundation of virtual human motion simulation. The classical parameterization methods of 3D rotation, such as rotation matrix, Euler angle, and quaternion, which bear several drawbacks, cannot resolve the motion parameterization of complex joint model. Based on the improvement of exponential map, a novel motion parameterization method called Dual Exponential Map (DEM) which can depict translation and rotation, linear velocity and angular velocity simultaneously was proposed. The motion description as well as parameters computation capabilities of the DEM were introduced. Finally a simulation on maintenance operation training was implemented. The experimental results illustrate that the DEM method bears powerful capability on derivation, solution to differential and ODEs, optimization control and interpolation.