虛擬人建模及跑步運(yùn)動控制技術(shù)的研究
發(fā)布時間：2018-07-31 11:41
【摘要】： 隨著計算機(jī)圖形學(xué)、虛擬現(xiàn)實(shí)、分布式計算、分布式仿真和網(wǎng)格三維游戲等相關(guān)學(xué)科的發(fā)展，對建模方法也提出了更高的要求：不僅要求模型在圖形上高度逼真、具有實(shí)時響應(yīng)能力，而且也要求模型具有物理屬性和行為能力。本文研究目的就是：不僅使人體模型具有靜態(tài)屬性，而且具有自主行為能力。虛擬人具有自主行為能力，即虛擬人的動作是由計算機(jī)根據(jù)人體解剖學(xué)、運(yùn)動學(xué)和運(yùn)動生物力學(xué)的規(guī)律自動產(chǎn)生的。 研究人體的運(yùn)動，首先要建立人體的幾何模型。由于本文的核心在于研究運(yùn)動控制技術(shù)，而運(yùn)動主要由底層的骨骼驅(qū)動，這里只從骨架層對虛擬人進(jìn)行建模。為了建模的需要，將人體結(jié)構(gòu)簡化成骨骼和關(guān)節(jié)的連接體，骨骼和關(guān)節(jié)連接成樹形結(jié)構(gòu)。骨骼的父親和兒子是關(guān)節(jié)，骨骼可以有零個或多個子關(guān)節(jié)；關(guān)節(jié)的父親和兒子是骨骼，關(guān)節(jié)只能有一個父骨骼和子骨骼。骨骼在運(yùn)動中不發(fā)生形變，因此將骨骼看做剛體，這樣人體就成為多剛體系統(tǒng)。根據(jù)關(guān)節(jié)旋轉(zhuǎn)自度，將關(guān)節(jié)分為3種類型：一個自由度的關(guān)節(jié)(one DOF)，兩個自由度的關(guān)節(jié)(two DOF)和三個自由度的關(guān)節(jié)(three DOF)。 常見的人體運(yùn)動有行走、跑步、踏步等。本文主要研究跑步運(yùn)動。人體跑步運(yùn)動是一個周期性的運(yùn)動。跑步周期分為支撐期和騰空期。根據(jù)運(yùn)動疊加的思想，將跑步周期細(xì)化為6個運(yùn)動階段。然后分別對6個階段進(jìn)行建模，生成跑步運(yùn)動的關(guān)鍵動作。在關(guān)鍵運(yùn)動的求解過程中，使用CCD(Cyclic-Coordinate Descent)算法來解決逆運(yùn)動學(xué)問題。最后對關(guān)鍵動作插值，生成中間動作，使動作看起來更連貫。整個動作的生成是由計算機(jī)自動完成的，而常用的建模軟件需要手動調(diào)整關(guān)節(jié)的角度來生成動作。對虛擬人在道路拐彎處的身體重心軌跡進(jìn)行處理，使虛擬人能沿著指定的路徑運(yùn)動。并引入了騰空高度、跑步水平、步頻等跑步參數(shù)，使跑步的姿態(tài)多樣化。 除此之外，對虛擬人身體的輪廓進(jìn)行提取，并將輪廓以矢量的方式保存，，作為二維動漫角色。
[Abstract]:With the development of computer graphics, virtual reality, distributed computing, distributed simulation and grid 3D games, the modeling method is required to be highly realistic. It has the ability to respond in real time, and it also requires the physical property and the behavior ability of the model. The purpose of this paper is to make the human model have not only static properties, but also autonomous behavior. Virtual human has the ability to act autonomously, that is, the action of virtual human is generated automatically by computer according to the rules of human anatomy, kinematics and sports biomechanics. In order to study the movement of human body, the geometric model of human body should be established first. Since the core of this paper is to study the motion control technology, and the movement is driven by the underlying skeleton, the virtual human is modeled only from the skeleton layer. For the purpose of modeling, the structure of human body is simplified into the connective body of bone and joint, and the bone and joint are connected into tree structure. The father and son of the bone are joints, and the skeleton may have zero or more sub-joints; the father and son of the joint are bones, and the joint can have only one parent bone and one child bone. Bones do not deform in motion, so consider bones as rigid bodies, so the human body becomes a multi-body system. According to the degree of rotation of joints, the joints are divided into three types: one degree of freedom of joint (one DOF), two degrees of freedom of joint (two DOF) and three degrees of freedom of joint (three DOF). Common body movements include walking, running, stepping, etc. This paper focuses on running. Human running is a periodic exercise. The running cycle is divided into support period and empty period. According to the idea of motion superposition, the running cycle is divided into 6 exercise stages. Then the six phases are modeled to generate the key movement of running. CCD (Cyclic-Coordinate Descent) algorithm is used to solve the inverse kinematics problem. Finally, the key actions are interpolated to generate intermediate actions to make the actions look more coherent. The whole action is generated automatically by the computer, and the commonly used modeling software needs to adjust the angle of joint manually to generate the action. The trajectory of the body center of gravity of the virtual human at the corner of the road is processed to make the virtual human move along the specified path. The running parameters, such as altitude, running level and step frequency, are introduced to diversify the running posture. In addition, the contour of the virtual human body is extracted, and the contour is saved as a vector as a two-dimensional animation character.
【學(xué)位授予單位】：武漢理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2007
【分類號】：TP391.9
本文編號：2155474
[Abstract]:With the development of computer graphics, virtual reality, distributed computing, distributed simulation and grid 3D games, the modeling method is required to be highly realistic. It has the ability to respond in real time, and it also requires the physical property and the behavior ability of the model. The purpose of this paper is to make the human model have not only static properties, but also autonomous behavior. Virtual human has the ability to act autonomously, that is, the action of virtual human is generated automatically by computer according to the rules of human anatomy, kinematics and sports biomechanics. In order to study the movement of human body, the geometric model of human body should be established first. Since the core of this paper is to study the motion control technology, and the movement is driven by the underlying skeleton, the virtual human is modeled only from the skeleton layer. For the purpose of modeling, the structure of human body is simplified into the connective body of bone and joint, and the bone and joint are connected into tree structure. The father and son of the bone are joints, and the skeleton may have zero or more sub-joints; the father and son of the joint are bones, and the joint can have only one parent bone and one child bone. Bones do not deform in motion, so consider bones as rigid bodies, so the human body becomes a multi-body system. According to the degree of rotation of joints, the joints are divided into three types: one degree of freedom of joint (one DOF), two degrees of freedom of joint (two DOF) and three degrees of freedom of joint (three DOF). Common body movements include walking, running, stepping, etc. This paper focuses on running. Human running is a periodic exercise. The running cycle is divided into support period and empty period. According to the idea of motion superposition, the running cycle is divided into 6 exercise stages. Then the six phases are modeled to generate the key movement of running. CCD (Cyclic-Coordinate Descent) algorithm is used to solve the inverse kinematics problem. Finally, the key actions are interpolated to generate intermediate actions to make the actions look more coherent. The whole action is generated automatically by the computer, and the commonly used modeling software needs to adjust the angle of joint manually to generate the action. The trajectory of the body center of gravity of the virtual human at the corner of the road is processed to make the virtual human move along the specified path. The running parameters, such as altitude, running level and step frequency, are introduced to diversify the running posture. In addition, the contour of the virtual human body is extracted, and the contour is saved as a vector as a two-dimensional animation character.
【學(xué)位授予單位】：武漢理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2007
【分類號】：TP391.9
【引證文獻(xiàn)】
相關(guān)期刊論文 前1條
1 徐曉剛;歐立銘;邵承永;;單人/多人虛擬維修訓(xùn)練開發(fā)平臺[J];兵工學(xué)報;2012年07期
相關(guān)碩士學(xué)位論文 前4條
1 胡應(yīng)龍;虛擬人行走引擎關(guān)鍵技術(shù)研究[D];國防科學(xué)技術(shù)大學(xué);2011年
2 孔德瀚;虛擬人運(yùn)動實(shí)時控制研究[D];燕山大學(xué);2012年
3 杜娟;虛擬試衣中人體骨架運(yùn)動協(xié)同的研究[D];東華大學(xué);2012年
4 唐先輝;3D游戲引擎的研究與實(shí)現(xiàn)[D];武漢理工大學(xué);2010年
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