Generation of physically consistent interpolant motion from key frames for human-like multibody systems in flight

摘要

This paper proposes an approach for generating a physically consistent trajectory from a few key frames of flight motion of a human-like multibody system. Systems in flight are subject to angular momentum conservation, a nonholonomic constraint, and linear momentum conservation. In the proposed approach, motion of one of the links is first generated independently. The motion of all other links is planned appropriately to satisfy the constraints of motion. This work has potential applications ranging from designing dynamic animations to planning free flight motion for humanoid robots.