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2010
Gielniak, M. J.; Liu, C. K.; Thomaz, A. L. (2010) : Secondary action in robot motion: 19th International Symposium in Robot and Human Interactive Communication: Viareggio, Italy: IEEE, S. 310-315

DOI: https://doi.org/10.1109/ROMAN.2010.5598730

Abstract: Secondary action, a concept borrowed from character animation, improves the animation realism by augmenting natural, passive motion to primary action. We use dynamic simulation to induce three techniques of secondary motion for robot hardware, which exploit actuation passivity to overcome hardware constraints and change the dynamic perception of the robot and its motion characteristics. Results of secondary motion due to internal and external forces are presented including discussion on how to choose the appropriate technique for a particular application.

Keywords: Angemessen(heit) (von Technik), Animation, character animation, Computer animation, dynamic simulation, Force, Hardware, Humanoid Robots, ieee xplore, Joints, robot dynamics, robot motion, Robots, secondary action, social robots, Torso, Trajectory

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