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Interactive Manipulation Planning for Animated Characters

10 years 2 months ago
Interactive Manipulation Planning for Animated Characters
We present a brief overview of an algorithm for interactively animating object grasping and manipulation tasks for human figures. The technique is designed to efficiently generate feasible single-arm manipulation motions given highlevel task commands. For moving an object, the motions necessary for a human arm to reach and grasp the object, reposition it, and return the arm to rest are generated automatically within a few seconds on average. The method synthesizes motion “on-the-fly” by directly searching the configuration space of the arm. Goal configurations for the arm are computed using an inverse kinematics algorithm that attempts to select a natural posture. A collision-free trajectory connecting the arm initial configuration to the goal configuration is computed using a randomized path planner. A high-level description of the methods is given along with results from some computed examples using a human character model.
James J. Kuffner Jr., Jean-Claude Latombe
Added 01 Aug 2010
Updated 01 Aug 2010
Type Conference
Year 2000
Where PG
Authors James J. Kuffner Jr., Jean-Claude Latombe
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