虚拟人建模及跑步运动控制技术的研究

发布时间：2018-07-31 11:41

【摘要】： 随着计算机图形学、虚拟现实、分布式计算、分布式仿真和网格三维游戏等相关学科的发展，对建模方法也提出了更高的要求：不仅要求模型在图形上高度逼真、具有实时响应能力，而且也要求模型具有物理属性和行为能力。本文研究目的就是：不仅使人体模型具有静态属性，而且具有自主行为能力。虚拟人具有自主行为能力，即虚拟人的动作是由计算机根据人体解剖学、运动学和运动生物力学的规律自动产生的。研究人体的运动，首先要建立人体的几何模型。由于本文的核心在于研究运动控制技术，而运动主要由底层的骨骼驱动，这里只从骨架层对虚拟人进行建模。为了建模的需要，将人体结构简化成骨骼和关节的连接体，骨骼和关节连接成树形结构。骨骼的父亲和儿子是关节，骨骼可以有零个或多个子关节；关节的父亲和儿子是骨骼，关节只能有一个父骨骼和子骨骼。骨骼在运动中不发生形变，因此将骨骼看做刚体，这样人体就成为多刚体系统。根据关节旋转自度，将关节分为3种类型：一个自由度的关节(one DOF)，两个自由度的关节(two DOF)和三个自由度的关节(three DOF)。常见的人体运动有行走、跑步、踏步等。本文主要研究跑步运动。人体跑步运动是一个周期性的运动。跑步周期分为支撑期和腾空期。根据运动叠加的思想，将跑步周期细化为6个运动阶段。然后分别对6个阶段进行建模，生成跑步运动的关键动作。在关键运动的求解过程中，使用CCD(Cyclic-Coordinate Descent)算法来解决逆运动学问题。最后对关键动作插值，生成中间动作，使动作看起来更连贯。整个动作的生成是由计算机自动完成的，而常用的建模软件需要手动调整关节的角度来生成动作。对虚拟人在道路拐弯处的身体重心轨迹进行处理，使虚拟人能沿着指定的路径运动。并引入了腾空高度、跑步水平、步频等跑步参数，使跑步的姿态多样化。除此之外，对虚拟人身体的轮廓进行提取，并将轮廓以矢量的方式保存，，作为二维动漫角色。
[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.
【学位授予单位】：武汉理工大学
【学位级别】：硕士
【学位授予年份】：2007
【分类号】：TP391.9

【引证文献】