2005
Richard Kulpa; Franck Multon
Fast inverse kinematics and kinetics solver for human-like figures Proceedings Article
In: 5th IEEE-RAS International Conference on Humanoid Robots, 2005., pp. 38-43, 2005, ISSN: 2164-0572.
Abstract | Links/Paper | BibTeX
@inproceedings{Kulpa2005a,
title = {Fast inverse kinematics and kinetics solver for human-like figures},
author = {Richard Kulpa and Franck Multon},
url = {http://ieeexplore.ieee.org/abstract/document/1573542},
doi = {10.1109/ICHR.2005.1573542},
issn = {2164-0572},
year = {2005},
date = {2005-12-01},
booktitle = {5th IEEE-RAS International Conference on Humanoid Robots, 2005.},
pages = {38-43},
abstract = {Applying complex motions to humanoids involves to deal with different kinematic, kinetic and dynamic constraints. Although dynamics is more accurate to simulate humanoids, inverse kinematics is an alternative to rapidly calculate plausible movements required for motion planning. Humanoids motion planning that deals with numerous degrees of freedom requires numerous calls to inverse kinematics solvers that make computation time increase significantly. We propose a new approach that is able to solve complex character positioning while dealing with the center of mass position with very few computation time. An iterative hierarchical process is proposed: analytical solutions are proposed for groups of body segments while a higher solver is applied to drive the whole body and is repeated until stability is reached. With such a system, we are able to animate from 22 to 177 characters at 30 Hz on a classical P4 computer},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Applying complex motions to humanoids involves to deal with different kinematic, kinetic and dynamic constraints. Although dynamics is more accurate to simulate humanoids, inverse kinematics is an alternative to rapidly calculate plausible movements required for motion planning. Humanoids motion planning that deals with numerous degrees of freedom requires numerous calls to inverse kinematics solvers that make computation time increase significantly. We propose a new approach that is able to solve complex character positioning while dealing with the center of mass position with very few computation time. An iterative hierarchical process is proposed: analytical solutions are proposed for groups of body segments while a higher solver is applied to drive the whole body and is repeated until stability is reached. With such a system, we are able to animate from 22 to 177 characters at 30 Hz on a classical P4 computer
Richard Kulpa
INSA Rennes, 2005.
Abstract | Links/Paper | BibTeX
@phdthesis{Kulpa2005b,
title = {Adaptation interactive et performante des mouvements d'humanoïdes
synthétiques : aspects cinématique, cinétique et dynamique},
author = {Richard Kulpa},
url = {http://people.rennes.inria.fr/Richard.Kulpa/papers/2005_Kulpa_PhD.pdf},
year = {2005},
date = {2005-01-01},
school = {INSA Rennes},
abstract = {De nos jours, la capture de mouvements est une technique très
répandue pour obtenir des animations réalistes d'humanoïdes
synthétiques. Cependant, ces mouvements doivent être adaptés
à de nouvelles contraintes comme la morphologie et lénvironnement
du personnage afin de pouvoir les utiliser dans toutes les situations.
Le problème est alors de les modifier tout en préservant
leurs propriétés intrinsèques. Nous proposons donc une
méthode dádaptation de ces mouvements à de nouvelles contraintes
en vérifiant les aspects cinématique, cinétique et dynamique.
Ces travaux répondent aux problèmes suivants : trouver une
posture réaliste parmi celles qui vériï¬?ent les contraintes,
contrôler la position du centre de masse et adapter les postures
en conséquence, enfin être capable dáppliquer ces méthodes
sur de nombreux personnages en temps-réel. Ce travail peut être
utilisé dans les applications interactives par exemple dans des
domaines tels que l'éducation, láudiovisuel et le sport.},
keywords = {},
pubstate = {published},
tppubtype = {phdthesis}
}
De nos jours, la capture de mouvements est une technique très
répandue pour obtenir des animations réalistes d'humanoïdes
synthétiques. Cependant, ces mouvements doivent être adaptés
à de nouvelles contraintes comme la morphologie et lénvironnement
du personnage afin de pouvoir les utiliser dans toutes les situations.
Le problème est alors de les modifier tout en préservant
leurs propriétés intrinsèques. Nous proposons donc une
méthode dádaptation de ces mouvements à de nouvelles contraintes
en vérifiant les aspects cinématique, cinétique et dynamique.
Ces travaux répondent aux problèmes suivants : trouver une
posture réaliste parmi celles qui vériï¬?ent les contraintes,
contrôler la position du centre de masse et adapter les postures
en conséquence, enfin être capable dáppliquer ces méthodes
sur de nombreux personnages en temps-réel. Ce travail peut être
utilisé dans les applications interactives par exemple dans des
domaines tels que l'éducation, láudiovisuel et le sport.
répandue pour obtenir des animations réalistes d'humanoïdes
synthétiques. Cependant, ces mouvements doivent être adaptés
à de nouvelles contraintes comme la morphologie et lénvironnement
du personnage afin de pouvoir les utiliser dans toutes les situations.
Le problème est alors de les modifier tout en préservant
leurs propriétés intrinsèques. Nous proposons donc une
méthode dádaptation de ces mouvements à de nouvelles contraintes
en vérifiant les aspects cinématique, cinétique et dynamique.
Ces travaux répondent aux problèmes suivants : trouver une
posture réaliste parmi celles qui vériï¬?ent les contraintes,
contrôler la position du centre de masse et adapter les postures
en conséquence, enfin être capable dáppliquer ces méthodes
sur de nombreux personnages en temps-réel. Ce travail peut être
utilisé dans les applications interactives par exemple dans des
domaines tels que l'éducation, láudiovisuel et le sport.
Richard Kulpa; Franck Multon; Bruno Arnaldi
Morphology-independent representation of motions for interactive human-like animation Journal Article
In: Computer Graphics Forum, vol. 24, no. 3, pp. 343–351, 2005, ISSN: 1467-8659.
Abstract | Links/Paper | BibTeX
@article{Kulpa2005bb,
title = {Morphology-independent representation of motions for interactive human-like animation},
author = {Richard Kulpa and Franck Multon and Bruno Arnaldi},
url = {http://dx.doi.org/10.1111/j.1467-8659.2005.00859.x},
doi = {10.1111/j.1467-8659.2005.00859.x},
issn = {1467-8659},
year = {2005},
date = {2005-01-01},
journal = {Computer Graphics Forum},
volume = {24},
number = {3},
pages = {343--351},
publisher = {Blackwell Publishing, Inc},
abstract = {This paper addresses the problem of human motion encoding for real-time
animation in interactive environments. Classically, a motion is stored
as a sequence of body postures encoded as a set of joint rotations
(quaternions, Euler-like angles or rotation matrices). As a consequence,
Cartesian constraints must be solved using inverse kinematics and/or
optimization. Those processes involve computation costs that do not
allow real-time animation of several characters in interactive environments.
To solve such a problem with a minimum computation time, we designed
a motion representation independent from the morphology and containing
the constraints intrinsically linked to the motion such as feet contacts
with the ground. With such a description, a unique motion can be
shared by several characters with different morphologies and in different
environments. We also adapted a Cyclic Coordinate Descent algorithm
that takes advantages of this representation in order to rapidly
deal with complex tunable spacetime constraints. For example, this
method enables to interactively control at least eight characters
with different morphologies that interact each other during a fight
training. Hence, each character has to deal with geometric constraints
that can change at every time, depending on the opponents' morphology
and gestures.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
This paper addresses the problem of human motion encoding for real-time
animation in interactive environments. Classically, a motion is stored
as a sequence of body postures encoded as a set of joint rotations
(quaternions, Euler-like angles or rotation matrices). As a consequence,
Cartesian constraints must be solved using inverse kinematics and/or
optimization. Those processes involve computation costs that do not
allow real-time animation of several characters in interactive environments.
To solve such a problem with a minimum computation time, we designed
a motion representation independent from the morphology and containing
the constraints intrinsically linked to the motion such as feet contacts
with the ground. With such a description, a unique motion can be
shared by several characters with different morphologies and in different
environments. We also adapted a Cyclic Coordinate Descent algorithm
that takes advantages of this representation in order to rapidly
deal with complex tunable spacetime constraints. For example, this
method enables to interactively control at least eight characters
with different morphologies that interact each other during a fight
training. Hence, each character has to deal with geometric constraints
that can change at every time, depending on the opponents' morphology
and gestures.
animation in interactive environments. Classically, a motion is stored
as a sequence of body postures encoded as a set of joint rotations
(quaternions, Euler-like angles or rotation matrices). As a consequence,
Cartesian constraints must be solved using inverse kinematics and/or
optimization. Those processes involve computation costs that do not
allow real-time animation of several characters in interactive environments.
To solve such a problem with a minimum computation time, we designed
a motion representation independent from the morphology and containing
the constraints intrinsically linked to the motion such as feet contacts
with the ground. With such a description, a unique motion can be
shared by several characters with different morphologies and in different
environments. We also adapted a Cyclic Coordinate Descent algorithm
that takes advantages of this representation in order to rapidly
deal with complex tunable spacetime constraints. For example, this
method enables to interactively control at least eight characters
with different morphologies that interact each other during a fight
training. Hence, each character has to deal with geometric constraints
that can change at every time, depending on the opponents' morphology
and gestures.
2004
Stéphane Ménardais; Franck Multon; Richard Kulpa; Bruno Arnaldi
Motion blending for real-time animation while accounting for the environment Proceedings Article
In: Proceedings Computer Graphics International, 2004., pp. 156-159, 2004, ISSN: 1530-1052.
Abstract | Links/Paper | BibTeX
@inproceedings{Menardais2004b,
title = {Motion blending for real-time animation while accounting for the environment},
author = {Stéphane Ménardais and Franck Multon and Richard Kulpa and Bruno
Arnaldi},
doi = {10.1109/CGI.2004.1309206},
issn = {1530-1052},
year = {2004},
date = {2004-06-01},
booktitle = {Proceedings Computer Graphics International, 2004.},
pages = {156-159},
abstract = {Using motion capture systems to animate humanlike figures still remains difficult when the movements are complex or need to be adapted to geometric constraints. We propose a new method to blend several captured movements while adapting the trajectories to new skeletons and to unknown environments. For each body part (considered as resources), a priority is defined for each movement (considered as consumers). The trajectories applied to the skeleton consist of a weighted sum of the motions trajectories. A new technique to compute the weights is proposed. Finally, the system adapts the resulting trajectories to the synthetic skeleton and to the environment. The results enabled to animate up to one hundred actors in interactive environments},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Using motion capture systems to animate humanlike figures still remains difficult when the movements are complex or need to be adapted to geometric constraints. We propose a new method to blend several captured movements while adapting the trajectories to new skeletons and to unknown environments. For each body part (considered as resources), a priority is defined for each movement (considered as consumers). The trajectories applied to the skeleton consist of a weighted sum of the motions trajectories. A new technique to compute the weights is proposed. Finally, the system adapts the resulting trajectories to the synthetic skeleton and to the environment. The results enabled to animate up to one hundred actors in interactive environments
Benoit Bideau; Franck Multon; Richard Kulpa; Laetitia Fradet; Bruno Arnaldi
Virtual Reality Applied to Sports: Do Handball Goalkeepers React Realistically to Simulated Synthetic Opponents? Proceedings Article
In: Proceedings of the 2004 ACM SIGGRAPH International Conference on Virtual Reality Continuum and Its Applications in Industry, pp. 210–216, ACM, Singapore, 2004, ISBN: 1-58113-884-9.
Abstract | Links/Paper | BibTeX
@inproceedings{Bideau2004a,
title = {Virtual Reality Applied to Sports: Do Handball Goalkeepers React Realistically to Simulated Synthetic Opponents?},
author = {Benoit Bideau and Franck Multon and Richard Kulpa and Laetitia Fradet and Bruno Arnaldi},
url = {http://doi.acm.org/10.1145/1044588.1044632},
doi = {10.1145/1044588.1044632},
isbn = {1-58113-884-9},
year = {2004},
date = {2004-01-01},
booktitle = {Proceedings of the 2004 ACM SIGGRAPH International Conference on Virtual Reality Continuum and Its Applications in Industry},
pages = {210--216},
publisher = {ACM},
address = {Singapore},
series = {VRCAI '04},
abstract = {Virtual reality is currently used in several application fields. In those applications and, especially in sports, the motor behavior of the subjects plays a major role. We propose to test the specific problem of handball goalkeeper and thrower duel. To this end, we studied if real handball goalkeepers react in a virtual scenery as in real game. The virtual scenery is composed of virtual opponents that are driven by a kinematical animation model. This model enables to change a specific parameter in the virtual thrower's motion and to examine the resulting effects on the goalkeepers' reactions. This paper aims at verifying if this animation model reproduces real motions with an enough accuracy to engender realistic goalkeepers reactions. Our results show that this kind of model enables to carry-out virtual experiments without modifying the natural gestures of the subjects.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Virtual reality is currently used in several application fields. In those applications and, especially in sports, the motor behavior of the subjects plays a major role. We propose to test the specific problem of handball goalkeeper and thrower duel. To this end, we studied if real handball goalkeepers react in a virtual scenery as in real game. The virtual scenery is composed of virtual opponents that are driven by a kinematical animation model. This model enables to change a specific parameter in the virtual thrower's motion and to examine the resulting effects on the goalkeepers' reactions. This paper aims at verifying if this animation model reproduces real motions with an enough accuracy to engender realistic goalkeepers reactions. Our results show that this kind of model enables to carry-out virtual experiments without modifying the natural gestures of the subjects.
Stéphane Ménardais; Richard Kulpa; Franck Multon; Bruno Arnaldi
Synchronization for Dynamic Blending of Motions Proceedings Article
In: Proceedings of the 2004 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, pp. 325–335, Eurographics Association, Grenoble, France, 2004, ISBN: 3-905673-14-2.
Abstract | Links/Paper | BibTeX
@inproceedings{Menardais2004a,
title = {Synchronization for Dynamic Blending of Motions},
author = {Stéphane Ménardais and Richard Kulpa and Franck Multon and Bruno
Arnaldi},
url = {http://dx.doi.org/10.1145/1028523.1028567},
doi = {10.1145/1028523.1028567},
isbn = {3-905673-14-2},
year = {2004},
date = {2004-01-01},
booktitle = {Proceedings of the 2004 ACM SIGGRAPH/Eurographics Symposium on Computer Animation},
pages = {325--335},
publisher = {Eurographics Association},
address = {Grenoble, France},
series = {SCA '04},
abstract = {In this paper we present a new real-time synchronization algorithm. In dynamic environments, motions need to be continuously adapted to obtain realistic animations. We propose an advanced time warping algorithm to synchronize such motions. This algorithm uses the sequence of support phases of the motions. It also takes into account the priority associated to each motion. It is based on an algebraic relation to detect incompatible motions and to select elements of the sequence to be enlarged. The resulting time warping function can be non-derivable so it is corrected by using a cardinal spline interpolation. In this paper, we demonstrate that our algorithm always finds at least one solution. This synchronization module is part of a complete animation engine called MKM already used in production.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
In this paper we present a new real-time synchronization algorithm. In dynamic environments, motions need to be continuously adapted to obtain realistic animations. We propose an advanced time warping algorithm to synchronize such motions. This algorithm uses the sequence of support phases of the motions. It also takes into account the priority associated to each motion. It is based on an algebraic relation to detect incompatible motions and to select elements of the sequence to be enlarged. The resulting time warping function can be non-derivable so it is corrected by using a cardinal spline interpolation. In this paper, we demonstrate that our algorithm always finds at least one solution. This synchronization module is part of a complete animation engine called MKM already used in production.
Benoit Bideau; Franck Multon; Richard Kulpa; Laetitia Fradet; Bruno Arnaldi; Paul Delamarche
Using virtual reality to analyze links between handball thrower kinematics and goalkeeper's reactions Journal Article
In: Neuroscience Letters, vol. 372, no. 1–2, pp. 119 - 122, 2004, ISSN: 0304-3940.
Abstract | Links/Paper | BibTeX
@article{Bideau2004b,
title = {Using virtual reality to analyze links between handball thrower kinematics and goalkeeper's reactions},
author = {Benoit Bideau and Franck Multon and Richard Kulpa and Laetitia Fradet and Bruno Arnaldi and Paul Delamarche},
url = {http://people.rennes.inria.fr/Richard.Kulpa/papers/2004_Bideau_NL.pdf},
doi = {http://dx.doi.org/10.1016/j.neulet.2004.09.023},
issn = {0304-3940},
year = {2004},
date = {2004-01-01},
journal = {Neuroscience Letters},
volume = {372},
number = {1–2},
pages = {119 - 122},
abstract = {This work investigates the design of a new method to evaluate the importance of visual elements taken into account by a handball goalkeeper facing a thrower. Virtual reality was used to design and reproduce standardised situations in a controlled environment. Under such conditions, it was possible to isolate for investigation one visual element in the thrower's gestures. The goalkeeper's movements were recorded in order to compare his reactions to two separate throws where only one visual element was modified. Our systems allowed us to measure and record the effects of small changes in the thrower's movements. With the numerical values we obtained from our results we were able to come up with a scale of significance for each isolated element. These preliminary results look promising for neuroscience, allowing us to better understand the strategies used in duel situations.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
This work investigates the design of a new method to evaluate the importance of visual elements taken into account by a handball goalkeeper facing a thrower. Virtual reality was used to design and reproduce standardised situations in a controlled environment. Under such conditions, it was possible to isolate for investigation one visual element in the thrower's gestures. The goalkeeper's movements were recorded in order to compare his reactions to two separate throws where only one visual element was modified. Our systems allowed us to measure and record the effects of small changes in the thrower's movements. With the numerical values we obtained from our results we were able to come up with a scale of significance for each isolated element. These preliminary results look promising for neuroscience, allowing us to better understand the strategies used in duel situations.
2003
Benoit Bideau; Richard Kulpa; Stéphane Ménardais; Laetitia Fradet; Franck Multon; Paul Delamarche; Bruno Arnaldi
Real Handball Goalkeeper vs. Virtual Handball Thrower Journal Article
In: Presence: Teleoper. Virtual Environ., vol. 12, no. 4, pp. 411–421, 2003, ISSN: 1054-7460.
Abstract | Links/Paper | BibTeX
@article{Bideau2003b,
title = {Real Handball Goalkeeper vs. Virtual Handball Thrower},
author = {Benoit Bideau and Richard Kulpa and Stéphane Ménardais and Laetitia Fradet and Franck Multon and Paul Delamarche and Bruno Arnaldi},
url = {http://dx.doi.org/10.1162/105474603322391631},
doi = {10.1162/105474603322391631},
issn = {1054-7460},
year = {2003},
date = {2003-08-01},
journal = {Presence: Teleoper. Virtual Environ.},
volume = {12},
number = {4},
pages = {411--421},
publisher = {MIT Press},
address = {Cambridge, MA, USA},
abstract = {Virtual reality offers new tools for human motion understanding. Several applications have been widely used in teleoperation, military training, driving and flying simulators, and so forth. We propose to test if virtual reality is a valid training tool for the game of handball. We focused on the duel between a handball goalkeeper and a thrower. To this end, we defined a pilot experiment divided into two steps: an experiment with real subjects and another one with virtual throwers. The throwers' motions were captured in order to animate their avatar in a reality center. In this paper, we focused on the evaluation of presence when a goalkeeper is confronting these avatars. To this end, we compared the goalkeeper's gestures in the real and in the virtual experiment to determine if virtual reality engendered the same movements for the same throw. Our results show that gestures did not differ between the real and virtual environment. As a consequence, we can say that the virtual environment offered enough realism to initiate natural gestures. Moreover, as in real games, we observed the goalkeeper's anticipation to allow us to use virtual reality in future work as a way to understand the goalkeeper and thrower interactions. The main originality of this work was to measure presence in a sporting application with new evaluation methods based on motion capture.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Virtual reality offers new tools for human motion understanding. Several applications have been widely used in teleoperation, military training, driving and flying simulators, and so forth. We propose to test if virtual reality is a valid training tool for the game of handball. We focused on the duel between a handball goalkeeper and a thrower. To this end, we defined a pilot experiment divided into two steps: an experiment with real subjects and another one with virtual throwers. The throwers' motions were captured in order to animate their avatar in a reality center. In this paper, we focused on the evaluation of presence when a goalkeeper is confronting these avatars. To this end, we compared the goalkeeper's gestures in the real and in the virtual experiment to determine if virtual reality engendered the same movements for the same throw. Our results show that gestures did not differ between the real and virtual environment. As a consequence, we can say that the virtual environment offered enough realism to initiate natural gestures. Moreover, as in real games, we observed the goalkeeper's anticipation to allow us to use virtual reality in future work as a way to understand the goalkeeper and thrower interactions. The main originality of this work was to measure presence in a sporting application with new evaluation methods based on motion capture.
Benoit Bideau; Laetitia Fradet; Franck Multon; Stéphane Ménardais; Richard Kulpa; Bruno Arnaldi
Validation d'un processus de traitement allant de la capture du mouvement à límmersion de sujets en réalité virtuelle : application au tir au handball Proceedings Article
In: Revue Internationale de CFAO : Journées de lÁFIG, pp. 151–164, Villeurbanne , France, 2003.
@inproceedings{Bideau2003a,
title = {Validation d'un processus de traitement allant de la capture du mouvement
à límmersion de sujets en réalité virtuelle : application au tir
au handball},
author = {Benoit Bideau and Laetitia Fradet and Franck Multon and Stéphane
Ménardais and Richard Kulpa and Bruno Arnaldi},
year = {2003},
date = {2003-01-01},
booktitle = {Revue Internationale de CFAO : Journées de lÁFIG},
volume = {18},
number = {2},
pages = {151--164},
address = {Villeurbanne , France},
abstract = {La réalité virtuelle peut être utilisée pour provoquer des réactions
réalistes dans des mondes synthétiques. Cependant, tous les niveaux
intervenant dans la conception du monde synthétique (incluant lánimation
des personnages) peuvent introduire des artefacts non réalistes.
Lóbjectif de cette étude est d'évaluer un processus dánimation
cherchant à reproduire des tirs de handball. Un gardien de but réel
est censé arrêter ces tirs comme il le ferait dans le monde réel.
Au préalable, nous avons mesuré les mouvements de ce même gardien
en situation réelle. Les gestes obtenus dans les deux expériences
sont comparés pour vérifier la qualité de la chaîne dánimation.
Une application de ce travail concerne lídentification des paramètres
pris par les gardiens de but pour réaliser leur parade.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
La réalité virtuelle peut être utilisée pour provoquer des réactions
réalistes dans des mondes synthétiques. Cependant, tous les niveaux
intervenant dans la conception du monde synthétique (incluant lánimation
des personnages) peuvent introduire des artefacts non réalistes.
Lóbjectif de cette étude est d'évaluer un processus dánimation
cherchant à reproduire des tirs de handball. Un gardien de but réel
est censé arrêter ces tirs comme il le ferait dans le monde réel.
Au préalable, nous avons mesuré les mouvements de ce même gardien
en situation réelle. Les gestes obtenus dans les deux expériences
sont comparés pour vérifier la qualité de la chaîne dánimation.
Une application de ce travail concerne lídentification des paramètres
pris par les gardiens de but pour réaliser leur parade.
réalistes dans des mondes synthétiques. Cependant, tous les niveaux
intervenant dans la conception du monde synthétique (incluant lánimation
des personnages) peuvent introduire des artefacts non réalistes.
Lóbjectif de cette étude est d'évaluer un processus dánimation
cherchant à reproduire des tirs de handball. Un gardien de but réel
est censé arrêter ces tirs comme il le ferait dans le monde réel.
Au préalable, nous avons mesuré les mouvements de ce même gardien
en situation réelle. Les gestes obtenus dans les deux expériences
sont comparés pour vérifier la qualité de la chaîne dánimation.
Une application de ce travail concerne lídentification des paramètres
pris par les gardiens de but pour réaliser leur parade.
Laetitia Fradet; Richard Kulpa; Benoit Bideau; Franck Multon; Paul Delamarche
Kinematic simulation of handball throwing Proceedings Article
In: European Simulation Multiconference, 2003.
@inproceedings{Fradet2003,
title = {Kinematic simulation of handball throwing},
author = {Laetitia Fradet and Richard Kulpa and Benoit Bideau and Franck Multon and Paul Delamarche},
year = {2003},
date = {2003-01-01},
booktitle = {European Simulation Multiconference},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
2002
Laetitia Fradet; Richard Kulpa; Franck Multon; Paul Delamarche
Kinematic Analysis of Handball Throwing Proceedings Article
In: 20th International Symposium on Biomechanics in Sports, pp. 119–122, 2002, ISSN: 1999-4168.
Abstract | Links/Paper | BibTeX
@inproceedings{Fradet2002,
title = {Kinematic Analysis of Handball Throwing},
author = {Laetitia Fradet and Richard Kulpa and Franck Multon and Paul Delamarche},
url = {https://ojs.ub.uni-konstanz.de/cpa/article/view/635},
issn = {1999-4168},
year = {2002},
date = {2002-01-01},
booktitle = {20th International Symposium on Biomechanics in Sports},
pages = {119--122},
abstract = {Kinematic analysis of handball throwing is not well documented. If we know that the studies on the other throwing activities can give us important data, we have to develop the study of handball throwing in order to understand this special motion better. It appears that handball throwing is similar to football passing except for the special upper arm external rotation. Indeed, the maximal upper arm external rotation is minor to those noted in baseball pitching or football passing. Moreover, the upper arm is internally rotated at the ball release. If the common ball weight can explain the resemblance between football passing and handball throwing, the specific humeral rotation can result from some technical lacks of our players or from a specific adaptation to avoid a great external humeral rotation recognized as traumatizing for the arm.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Kinematic analysis of handball throwing is not well documented. If we know that the studies on the other throwing activities can give us important data, we have to develop the study of handball throwing in order to understand this special motion better. It appears that handball throwing is similar to football passing except for the special upper arm external rotation. Indeed, the maximal upper arm external rotation is minor to those noted in baseball pitching or football passing. Moreover, the upper arm is internally rotated at the ball release. If the common ball weight can explain the resemblance between football passing and handball throwing, the specific humeral rotation can result from some technical lacks of our players or from a specific adaptation to avoid a great external humeral rotation recognized as traumatizing for the arm.
2001
Armel Crétual; Franck Multon; Dominique David; Francis Avnaim; Mathilde Vandenberghe; Richard Kulpa
Un système multimodal dácquisition de mouvement basé modèle Conference
Journées RNTL, 2001.
@conference{Cretual2001,
title = {Un système multimodal dácquisition de mouvement basé modèle},
author = {Armel Crétual and Franck Multon and Dominique David and Francis Avnaim and Mathilde Vandenberghe and Richard Kulpa},
year = {2001},
date = {2001-01-01},
booktitle = {Journées RNTL},
pages = {1--9},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
1998
S Donikian; A Chauffaut; T Duval; R Kulpa
GASP: from modular programming to distributed execution Proceedings Article
In: Computer Animation 98. Proceedings, pp. 79-87, 1998, ISSN: 1087-4844.
Abstract | Links/Paper | BibTeX
@inproceedings{Donikian1998,
title = {GASP: from modular programming to distributed execution},
author = {S Donikian and A Chauffaut and T Duval and R Kulpa},
url = {http://ieeexplore.ieee.org/document/681911/},
doi = {10.1109/CA.1998.681911},
issn = {1087-4844},
year = {1998},
date = {1998-06-01},
booktitle = {Computer Animation 98. Proceedings},
pages = {79-87},
abstract = {We present a generic animation and simulation platform which integrates the different animation models: descriptive, generative and behavioural models. The integration of these models in the same platform offers to each dynamic entity a more realistic and a richer environment, and thereby increases possible interactions between an actor and its environment. Therefore we describe the kernel of the platform, then we explain how it is used from the programmer's point of view and we illustrate its use in the field of driving simulation},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
We present a generic animation and simulation platform which integrates the different animation models: descriptive, generative and behavioural models. The integration of these models in the same platform offers to each dynamic entity a more realistic and a richer environment, and thereby increases possible interactions between an actor and its environment. Therefore we describe the kernel of the platform, then we explain how it is used from the programmer's point of view and we illustrate its use in the field of driving simulation