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MIG
2009
Springer

Integrated Analytic and Linearized Inverse Kinematics for Precise Full Body Interactions

9 years 8 months ago
Integrated Analytic and Linearized Inverse Kinematics for Precise Full Body Interactions
Abstract. Despite the large success of games grounded on movement-based interactions the current state of full body motion capture technologies still prevents the exploitation of precise interactions with complex environments. This paper focuses on ensuring a precise spatial correspondence between the user and the avatar. We build upon our past effort in human postural control with a Prioritized Inverse Kinematics framework. One of its key advantage is to ease the dynamic combination of postural and collision avoidance constraints. However its reliance on a linearized approximation of the problem makes it vulnerable to the well-known full extension singularity of the limbs. In such context the tracking performance is reduced and/or less believable intermediate postural solutions are produced. We address this issue by introducing a new type of analytic constraint that smoothly integrates within the prioritized Inverse Kinematics framework. The paper first recalls the background of full ...
Ronan Boulic, Daniel Raunhardt
Added 27 May 2010
Updated 27 May 2010
Type Conference
Year 2009
Where MIG
Authors Ronan Boulic, Daniel Raunhardt
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