By Judith A. Gray

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Pure" direct motions require no additional joint angle change specifications; "pure" changes require no goals. In between are a range of potential motions biased by some additional joint angle adjustment. An example of such a combination might be a forward reach goal for an arm biased by an explicit shoulder and elbow flexions. The kinematic position computed on the basis of the reach would be modified by the elbow and shoulder changes. The hand might achieve the general goal direction but fail to achieve it precisely, perhaps by falling short and low of the mark.

1980). Computer animation done without concern for motion dynamics looks flat- or mechanical at best; discontinuous or jerky at worst. , 1980; Baecker, 1969; Zeltzer, 1982; Ginsberg & Maxwell, 1986). , 1987; Wilhelms, 1987; Girard, 1987). Our own examination of the motion control problem has focused on alternative notation systems combined with physical and graphical motion models suited to the complexity of the human figure. In searching for a representational basis for the dynamic qualities of movement, we examined a notation system complementary to Labanotation called Effort-Shape notation (Dell, 1970; Bartenieff, 1980).

Thus we propose a continuum from direct to indirect which is represented as a linear combination of joint angles derived from explicit Cartesian goals and joint angle changes. "Pure" direct combination of joint angles are derived from explicit Cartesian goals and joint angle changes. "Pure" direct motions require no additional joint angle change specifications; "pure" changes require no goals. In between are a range of potential motions biased by some additional joint angle adjustment. An example of such a combination might be a forward reach goal for an arm biased by an explicit shoulder and elbow flexions.

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