1.
Introduction and Historical Background
1.1.
Why Make Human Figure Models?
1.2.
Historical Roots
1.3.
What is Currently Possible?
1.4.
Manipulation, Animation, and Simulation
1.5.
What Did We Leave Out?
2.
Body Modeling
2.1.
Geometric Body Modeling
2.2.
Representing Articulated Figures
2.3.
A Flexible Torso Model
2.4.
Shoulder Complex
2.5.
Clothing Models
2.6.
The Anthropometry Database
2.7.
The Anthropometry Spreadsheet
2.8.
Strength and Torque Display
3.
Spatial Interaction
3.1.
Direct Manipulation
3.2.
Manipulation with Constraints
3.3.
Inverse Kinematic Positioning
3.4.
Reachable Spaces
4.1.
An Interactive System for Postural Control
4.1.
An Interactive System for Postural Control
4.2.
Interactive Manipulation with Behaviors
4.3.
The Animation Interface
4.4.
Human Figure Motions
4.5.
Virtual Human Control
5.
Simulation with Societies of Behaviors
5.1.
Forward Simulation with Behaviors
5.2.
Locomotion
5.3.
Strength Guided Motion
5.4.
Collision-Free Path and Motion Planning
5.5.
Posture Planning
6.
Task-Level Specifications
6.1.
Performance Simulation with Simple Commands
6.2.
Natural Language Expressions of Kinematics and Space
6.3.
Task-Level Simulation
6.4.
A Framework for Instruction Understanding
7.
Epilogue
7.1.
A Road Map Toward the Future
7.2.
Conclusion
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