DE602004007744D1 - Bewegung eines virtuellen mit Gelenken ausgestatteten Objektes in einer virtuellen Umgebung mit Selbtkollisionsvermeidung zwischen den Gelenken des Objektes - Google Patents

Bewegung eines virtuellen mit Gelenken ausgestatteten Objektes in einer virtuellen Umgebung mit Selbtkollisionsvermeidung zwischen den Gelenken des Objektes

Info

Publication number
DE602004007744D1
DE602004007744D1 DE602004007744T DE602004007744T DE602004007744D1 DE 602004007744 D1 DE602004007744 D1 DE 602004007744D1 DE 602004007744 T DE602004007744 T DE 602004007744T DE 602004007744 T DE602004007744 T DE 602004007744T DE 602004007744 D1 DE602004007744 D1 DE 602004007744D1
Authority
DE
Germany
Prior art keywords
virtual
joints
self
movement
collision avoidance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
DE602004007744T
Other languages
English (en)
Other versions
DE602004007744T2 (de
Inventor
Bruno Maille
Edouard Ramstein
Patrick Chedmail
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Safran Aircraft Engines SAS
Original Assignee
SNECMA SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SNECMA SAS filed Critical SNECMA SAS
Publication of DE602004007744D1 publication Critical patent/DE602004007744D1/de
Application granted granted Critical
Publication of DE602004007744T2 publication Critical patent/DE602004007744T2/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T13/00—Animation
    • G06T13/20—3D [Three Dimensional] animation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/05—Geographic models
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39096—Self-collision, internal collison, collision between links of one robot
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2210/00—Indexing scheme for image generation or computer graphics
    • G06T2210/21—Collision detection, intersection
DE602004007744T 2003-10-29 2004-09-17 Bewegung eines virtuellen mit Gelenken ausgestatteten Objektes in einer virtuellen Umgebung mit Selbtkollisionsvermeidung zwischen den Gelenken des Objektes Active DE602004007744T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0312640A FR2861857B1 (fr) 2003-10-29 2003-10-29 Deplacement d'un objet articule virtuel dans un environnement virtuel en evitant les collisions internes entre les elements articules de l'objet articule
FR0312640 2003-10-29

Publications (2)

Publication Number Publication Date
DE602004007744D1 true DE602004007744D1 (de) 2007-09-06
DE602004007744T2 DE602004007744T2 (de) 2008-06-05

Family

ID=34429707

Family Applications (1)

Application Number Title Priority Date Filing Date
DE602004007744T Active DE602004007744T2 (de) 2003-10-29 2004-09-17 Bewegung eines virtuellen mit Gelenken ausgestatteten Objektes in einer virtuellen Umgebung mit Selbtkollisionsvermeidung zwischen den Gelenken des Objektes

Country Status (10)

Country Link
US (1) US7403880B2 (de)
EP (1) EP1537960B1 (de)
JP (1) JP4283752B2 (de)
CN (1) CN100474343C (de)
CA (1) CA2483077C (de)
DE (1) DE602004007744T2 (de)
ES (1) ES2290648T3 (de)
FR (1) FR2861857B1 (de)
RU (1) RU2308762C2 (de)
UA (1) UA88757C2 (de)

Families Citing this family (18)

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Publication number Priority date Publication date Assignee Title
US7859540B2 (en) * 2005-12-22 2010-12-28 Honda Motor Co., Ltd. Reconstruction, retargetting, tracking, and estimation of motion for articulated systems
US8467904B2 (en) 2005-12-22 2013-06-18 Honda Motor Co., Ltd. Reconstruction, retargetting, tracking, and estimation of pose of articulated systems
US8924021B2 (en) * 2006-04-27 2014-12-30 Honda Motor Co., Ltd. Control of robots from human motion descriptors
JP4986543B2 (ja) * 2006-08-31 2012-07-25 キヤノン株式会社 情報処理方法、情報処理装置
CN101005661B (zh) * 2006-11-15 2010-11-03 深圳凯虹移动通信有限公司 具有数据、菜单隐形功能的移动终端及其加密隐藏方法
EP1972415B1 (de) * 2007-03-23 2019-01-02 Honda Research Institute Europe GmbH Roboter mit Kollisionsvermeidungsfunktion
EP1972416B1 (de) * 2007-03-23 2018-04-25 Honda Research Institute Europe GmbH Roboter mit Verstopfungsvermeidungsfunktion
EP1974869A1 (de) * 2007-03-26 2008-10-01 Honda Research Institute Europe GmbH Vorrichtung und Verfahren zur Erzeugung eines Roboters und zur Steuerung seiner Bewegung
DE102008016604B4 (de) * 2008-04-01 2014-07-17 Kuka Laboratories Gmbh Verfahren und Vorrichtung zur Eigenkollisionsüberwachung eines Manipulators
CN101719285B (zh) * 2009-12-28 2013-01-02 电子科技大学 一种多层次虚拟群体的避碰方法
AU2011201024A1 (en) 2011-03-08 2012-09-27 Canon Kabushiki Kaisha Shape parameterisation for editable document generation
CN102157008B (zh) * 2011-04-12 2014-08-06 电子科技大学 一种大规模虚拟人群实时绘制方法
ITTO20110994A1 (it) * 2011-10-31 2013-05-01 Comau Spa Metodo per il controllo di almeno due robot aventi rispettivi spazi di lavoro includenti almeno una regione in comune
WO2014121365A1 (ru) * 2013-02-11 2014-08-14 Mytnik Vyacheslav Georgievich Способ управления объектом
US9424378B2 (en) * 2014-02-03 2016-08-23 Siemens Product Lifecycle Management Software Inc. Simulation using coupling constraints
CN104776968B (zh) * 2015-04-03 2018-03-20 华东师范大学 一种多关节模型穿透深度的计算方法
US10525355B2 (en) * 2016-11-01 2020-01-07 Htc Corporation Method, device, and non-transitory computer readable storage medium for interaction to event in virtual space
US10937218B2 (en) * 2019-07-01 2021-03-02 Microsoft Technology Licensing, Llc Live cube preview animation

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5625577A (en) * 1990-12-25 1997-04-29 Shukyohojin, Kongo Zen Sohonzan Shorinji Computer-implemented motion analysis method using dynamics
WO1997040471A1 (en) * 1996-04-04 1997-10-30 Katrix, Inc. Limb coordination system for interactive computer animation of articulated characters with blended motion data
US7472047B2 (en) * 1997-05-12 2008-12-30 Immersion Corporation System and method for constraining a graphical hand from penetrating simulated graphical objects
JP2000277039A (ja) * 1999-03-26 2000-10-06 Toshiba Corp 画像表示装置およびその製造方法
US6853964B1 (en) * 2000-06-30 2005-02-08 Alyn Rockwood System for encoding and manipulating models of objects
US6856319B2 (en) * 2002-06-13 2005-02-15 Microsoft Corporation Interpolation using radial basis functions with application to inverse kinematics
US7168748B2 (en) * 2002-09-26 2007-01-30 Barrett Technology, Inc. Intelligent, self-contained robotic hand
WO2004047426A2 (en) * 2002-11-15 2004-06-03 Esc Entertainment, A California Corporation Reality-based light environment for digital imaging in motion pictures

Also Published As

Publication number Publication date
FR2861857A1 (fr) 2005-05-06
JP4283752B2 (ja) 2009-06-24
DE602004007744T2 (de) 2008-06-05
CA2483077C (fr) 2014-08-19
US20050096890A1 (en) 2005-05-05
RU2308762C2 (ru) 2007-10-20
EP1537960A1 (de) 2005-06-08
RU2004131049A (ru) 2006-04-10
EP1537960B1 (de) 2007-07-25
CA2483077A1 (fr) 2005-04-29
US7403880B2 (en) 2008-07-22
UA88757C2 (uk) 2009-11-25
CN100474343C (zh) 2009-04-01
CN1612167A (zh) 2005-05-04
JP2005202927A (ja) 2005-07-28
ES2290648T3 (es) 2008-02-16
FR2861857B1 (fr) 2006-01-20

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