Contents -- 1 Introduction and Historical Background -- 1.1 Why Make Human Figure Models? -- 1.2 Historical Roots -- 1.3 What is Currently Possible? -- 1.3.1 A Human Model must be Structured Like the Human Skeletal System -- 1.3.2 A Human Model should Move or Respond Like a Human -- 1.3.3 A Human Model should be Sized According to Permissible Human Dimensions -- 1.3.4 A Human Model should have a Human-Like Appearance -- 1.3.5 A Human Model must Exist, Work, Act and React Within a 3D Virtual Environment -- 1.3.6 Use the Computer to Analyze Synthetic Behaviors -- 1.3.7 An Interactive Software Tool must be Designed for Usability -- 1.4 Manipulation, Animation, and Simulation -- 1.5 What Did We Leave Out? -- 2 Body Modeling -- 2.1 Geometric Body Modeling -- 2.1.1 Surface and Boundary Models -- 2.1.2 Volume and CSG Models -- 2.1.3 The Principal Body Models Used -- 2.2 Representing Articulated Figures -- 2.2.1 Background -- 2.2.2 The Terminology of Peabody -- 2.2.3 The Peabody Hierarchy -- 2.2.4 Computing Global Coordinate Transforms -- 2.2.5 Dependent Joints -- 2.3 A Flexible Torso Model -- 2.3.1 Motion of the Spine -- 2.3.2 Input Parameters -- 2.3.3 Spine Target Position -- 2.3.4 Spine Database -- 2.4 Shoulder Complex -- 2.4.1 Primitive Arm Motions -- 2.4.2 Allocation of Elevation and Abduction -- 2.4.3 Implementation of Shoulder Complex -- 2.5 Clothing Models -- 2.5.1 Geometric Modeling of Clothes -- 2.5.2 Draping Model -- 2.6 The Anthropometry Database -- 2.6.1 Anthropometry Issues -- 2.6.2 Implementation of Anthropometric Scaling -- 2.6.3 Joints and Joint Limits -- 2.6.4 Mass -- 2.6.5 Moment of Inertia -- 2.6.6 Strength -- 2.7 The Anthropometry Spreadsheet -- 2.7.1 Interactive Access Anthropometric Database -- 2.7.2 SASS and the Body Hierarchy -- 2.7.3 The Rule System for Segment Scaling -- 2.7.4 Figure Creation -- 2.7.5 Figure Scaling.

2.8 Strength and Torque Display -- 2.8.1 Goals of Strength Data Display -- 2.8.2 Design of Strength Data Displays -- 3 Spatial Interaction -- 3.1 Direct Manipulation -- 3.1.1 Translation -- 3.1.2 Rotation -- 3.1.3 Integrated Systems -- 3.1.4 The Jack Direct Manipulation Operator -- 3.2 Manipulation with Constraints -- 3.2.1 Postural Control using Constraints -- 3.2.2 Constraints for Inverse Kinematics -- 3.2.3 Features of Constraints -- 3.2.4 Inverse Kinematics and the Center of Mass -- 3.2.5 Interactive Methodology -- 3.3 Inverse Kinematic Positioning -- 3.3.1 Constraints as a Nonlinear Programming Problem -- 3.3.2 Solving the Nonlinear Programming Problem -- 3.3.3 Assembling Multiple Constraints -- 3.3.4 Stiffness of Individual Degrees of Freedom -- 3.3.5 An Example -- 3.4 Reachable Spaces -- 3.4.1 Workspace Point Computation Module -- 3.4.2 Workspace Visualization -- 3.4.3 Criteria Selection -- 4 Behavioral Control -- 4.1 An Interactive System for Postural Control -- 4.1.1 Behavioral Parameters -- 4.1.2 Passive Behaviors -- 4.1.3 Active Behaviors -- 4.2 Interactive Manipulation With Behaviors -- 4.2.1 The Feet -- 4.2.2 The Center of Mass and Balance -- 4.2.3 The Torso -- 4.2.4 The Pelvis -- 4.2.5 The Head and Eyes -- 4.2.6 The Arms -- 4.2.7 The Hands and Grasping -- 4.3 The Animation Interface -- 4.4 Human Figure Motions -- 4.4.1 Controlling Behaviors Over Time -- 4.4.2 The Center of Mass -- 4.4.3 The Pelvis -- 4.4.4 The Torso -- 4.4.5 The Feet -- 4.4.6 Moving the Heels -- 4.4.7 The Arms -- 4.4.8 The Hands -- 4.5 Virtual Human Control -- 5 Simulation with Societies of Behaviors -- 5.1 Forward Simulation with Behaviors -- 5.1.1 The Simulation Model -- 5.1.2 The Physical Execution Environment -- 5.1.3 Networks of Behaviors and Events -- 5.1.4 Interaction with Other Models -- 5.1.5 The Simulator -- 5.1.6 Implemented Behaviors.

5.1.7 Simple human motion control -- 5.2 Locomotion -- 5.2.1 Kinematic Control -- 5.2.2 Dynamic Control -- 5.2.3 Curved Path Walking -- 5.2.4 Examples -- 5.3 Strength Guided Motion -- 5.3.1 Motion from Dynamics Simulation -- 5.3.2 Incorporating Strength and Comfort into Motion -- 5.3.3 Motion Control -- 5.3.4 Motion Strategies -- 5.3.5 Selecting the Active Constraints -- 5.3.6 Strength Guided Motion Examples -- 5.3.7 Evaluation of this Approach -- 5.3.8 Performance Graphs -- 5.3.9 Coordinated Motion -- 5.4 Collision-Free Path and Motion Planning -- 5.4.1 Robotics Background -- 5.4.2 Using Cspace Groups -- 5.4.3 The Basic Algorithm -- 5.4.4 The Sequential Algorithm -- 5.4.5 The Control Algorithm -- 5.4.6 The Planar Algorithm -- 5.4.7 Resolving Conflicts between Different Branches -- 5.4.8 Playing Back the Free Path -- 5.4.9 Incorporating Strength Factors into the Planned Motion -- 5.4.10 Examples -- 5.4.11 Completeness and Complexity -- 5.5 Posture Planning -- 5.5.1 Functionally Relevant High-level Control Parameters -- 5.5.2 Motions and Primitive Motions -- 5.5.3 Motion Dependencies -- 5.5.4 The Control Structure of Posture Planning -- 5.5.5 An Example of Posture Planning -- 6 Task-Level Specifications -- 6.1 Performing Simple Commands -- 6.1.1 Task Environment -- 6.1.2 Linking Language and Motion Generation -- 6.1.3 Specifying Goals -- 6.1.4 The Knowledge Base -- 6.1.5 The Geometric Database -- 6.1.6 Creating an Animation -- 6.1.7 Default Timing Constructs -- 6.2 Language Terms for Motion and Space -- 6.2.1 Simple Commands -- 6.2.2 Representational Formalism -- 6.2.3 Sample Verb and Preposition Specifications -- 6.2.4 Processing a sentence -- 6.2.5 Summary -- 6.3 Task-Level Simulation -- 6.3.1 Programming Environment -- 6.3.2 Task-actions -- 6.3.3 Motivating Some Task-Actions -- 6.3.4 Domain-specific task-actions -- 6.3.5 Issues -- 6.3.6 Summary.

6.4 A Model for Instruction Understanding -- 7 Epilogue -- 7.1 A Roadmap Toward the Future -- 7.1.1 Interactive Human Models -- 7.1.2 Reasonable Biomechanical Properties -- 7.1.3 Human-like Behaviors -- 7.1.4 Simulated Humans as Virtual Agents -- 7.1.5 Task Guidance through Instructions -- 7.1.6 Natural Manual Interfaces and Virtual Reality -- 7.1.7 Generating Text, Voice-over, and Spoken Explication for Animation -- 7.1.8 Coordinating Multiple Agents -- 7.2 Conclusion -- Bibliography -- Index -- A -- B -- C -- D -- E -- F -- G -- H -- I -- J -- K -- L -- M -- N -- O -- P -- Q -- R -- S -- T -- V -- W -- Z.