Journal of the Korea Computer Graphics Society (한국컴퓨터그래픽스학회논문지)

Korea Computer Graphics Society (한국컴퓨터그래픽스학회)
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Carrying pose optimization by using wrench space

렌치 스페이스를 이용한 물체 들기 자세 최적화

  • Received : 2015.08.10
  • Accepted : 2015.08.31
  • Published : 2015.09.01
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Abstract

This paper presents a method for optimizing a carrying pose of human body for a given object. The inputs are articulated human body model and and arbitrary-shaped object. We assume that the object is big and heavy, so that both arms should be used to carry it. Unlike small and light objects, big and heaby objects can be hold by only a small range of body poses while keeping a physical statbility. We first introduce an algorithm that evaluates a physical stability of a given human body pose and object state (position and orientation). Then, we define a configuration space and search the space for the most stable carrying pose by using the evaluation algorithm. Finally, to demonstrate the usability of our method, we present the results which each is experimented with different shaped objects and additional user conditions.

본 논문에서는 양팔을 이용한 물체 들기 자세를 최적화 하는 기술을 소개한다. 입력 값은 인체 모델과 임의의 모양의 물체이다. 물체는 크기가 크고 무거워서 두 팔을 사용해서만이 들 수 있다고 가정한다. 작은 물체와 달리 큰 물체는 물리적 안정성을 유지하면서 들고 있는 것이 쉽지 않다. 물체의 방향 그리고 손, 팔, 몸통 등 상체의 자세가 적절한 경우에만 물리적 안정성이 보장될 수 있고, 그러한 자세의 범위는 매우 제한적이다. 본 논문에서는 먼저 렌치스페이스 개념을 사용하여 주어진 인체 자세에 대해 안정성을 평가하는 알고리즘을 제시한다. 다음 전체 형태 공간을 정의 하고 형태 공간 내에서 안정성 평가 점수가 가장 높은 자세를 찾아내는 방법을 소개한다. 여러 가지 모양의 물체와 사용자 요구 조건이 주어졌을 때 최적화 된 들기 자세를 찾아내는 실험을 통해 유용성을 증명한다.

Keywords

References

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