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Robotics techniques for controlling computer animated figures

The computer animation of articulated figures involves the control of multiple degrees of freedom and, in many cases, the manipulation of kinematically redundant limbs. Pseudoinverse techniques are used in order to allow the animator to control the figure in a task oriented manner by specifying the end effector position and orientation. In addition, secondary goals are used to allow the animator to constrain some of the joints in the figure. The human arm and hand are used as a model for reaching and grasping objects. A user interface to create limbs and control their motion has been developed. Thesis Supervisor: David Zeltzer Title: Assistant Professor This material is based upon work supported under a National Science Foundation Graduate Fellowship. Any opinions, findings, conclusions, or recommendations expressed in this publication are those of the author and do not necessarily reflect the views of the National Science Foundation.