<abstract xml:lang="en" xmlns="http://www.w3.org/1999/xhtml"><p>When conducting a dynamic simulation of a multibody mechanical system, the model definition may need to be altered during the simulation course due to, e.g., changes in the way the system interacts with external objects. In this paper, we propose a general procedure for modifying simulation models of articulated figures, particularly useful when dealing with systems in time-varying contact with the environment. The proposed algorithm adjusts model connectivity, geometry and current state, producing its equivalent ready to be used by the simulation procedure. Furthermore, we also provide a simple usage scenario—a passive planar biped walker.</p></abstract>

When conducting a dynamic simulation of a multibody mechanical system, the model definition may need to be altered during the simulation course due to, e.g., changes in the way the system interacts with external objects. In this paper, we propose a general procedure for modifying simulation models of articulated figures, particularly useful when dealing with systems in time-varying contact with the environment. The proposed algorithm adjusts model connectivity, geometry and current state, producing its equivalent ready to be used by the simulation procedure. Furthermore, we also provide a simple usage scenario—a passive planar biped walker.

A general on-the-fly algorithm for modifying the kinematic tree hierarchy

Institute of Informatics, Silesian University of Technology, Akademicka 16, 44-100 Gliwice, Poland

Polish-Japanese Institute of Information Technology, Aleja Legionów 2, 41-902 Bytom, Poland

International Journal of Applied Mathematics and Computer Science

{"article-title":"A general on-the-fly algorithm for modifying the kinematic tree hierarchy"}

When conducting a dynamic simulation of a multibody mechanical system, the model definition may need to be altered during the simulation course due to, e.g.,...

A general on-the-fly algorithm for modifying the kinematic tree hierarchy

Published Online: Jun 28, 2012

Page range: 423 - 435

DOI: https://doi.org/10.2478/v10006-012-0032-7

Keywords
dynamics, articulated system, rigid bodies, system hierarchy, contact, animation

This content is open access.

A general on-the-fly algorithm for modifying the kinematic tree hierarchy

Published Online: Jun 28, 2012

Page range: 423 - 435

DOI: https://doi.org/10.2478/v10006-012-0032-7

Keywordsdynamics, articulated system, rigid bodies, system hierarchy, contact, animation

This content is open access.

Keywords
dynamics, articulated system, rigid bodies, system hierarchy, contact, animation