Methods for Controlling Animation

Kinematics and Dynamics

Kinematics and Dynamics

Kinematics motion

Determined by positions, velocities,

accelerations

Dynamics physical laws that govern the

kinematics

Compute motion from initial condition and

physics
Skeleton connected set of segments,
corresponding to limbs, and !oints"

Direct Kinematics # $arametric
Keyframe Animation

consists of specifying, for some key positions,

various angles for the !oints of the skeleton of a
character

positions of particular parts of the model at a

specified time are calculated from the position
and orientation of the ob!ect, together with any
information on the !oints of an articulated model

Direct Kinematics # $arametric
Keyframe Animation

So for e%ample if the ob!ect to be animated

is an arm with the shoulder remaining at a
fi%ed location, the location of the tip of the
thumb would be calculated from the angles
of the shoulder, elbow, wrist, thumb and
knuckle !oints

Direct Kinematics # $arametric
Keyframe Animation

&his animation shows

animation produced by
forward kinematics"

&he first frame is defined by rotation

angles ''(,(),(,*'+(,(),,-.,*'+(,(),,-. &he
last frame is defined by rotation angles ''
+(,/(),0(,*'1(,+(),,+-.,*'1(,+(),,+-.

2nverse Kinematics

&his techni3ue moves the child ob!ect to where

the animator wants it, causing the parent ob!ect
and all other attached ob!ects to follow

2nverse Kinematics

&o make a skeleton sit down on a chair, for

e%ample, it is necessary to specify the
relevant constraints on the feet, on the
pelvis and on the hands"

Dynamics

takes forces and tor3ues directly into the

mechanics e3uation to calculate the spatial
parameters of the articulated position,
velocity and acceleration, and uses them to
update the structure at each time step

Dynamics

4orward Dynamics &he movements are

calculated from the forces, such as, force 5
mass 6 acceleration"

2nverse Dynamics Constraints are applied

which specifies how ob!ects interact, for
e%ample, they may be linked by a hinge
!oint or a ball !oint, and from this the forces
can be calculated

4or forward dynamics, the user
specifies the on7off times of muscles
and thenit computes the resulting
motions of the body segments"
4or inverse dynamics, the user
specifies the time histories of the !oint
angles during some activity and then it
calculates the tor3ues re3uired to
generate that motion"