An Energy-Driven Motion Planning Method for Two Distant Postures
In this paper, we present a local motion planning algorithm for character animation. We focus on motion planning between two distant postures where linear interpolation leads to penetrations. Our framework has two stages. The motion planning problem is first solved as a Boundary Value Problem (BVP)...
| Publié dans: | IEEE transactions on visualization and computer graphics. - 1998. - 21(2015), 1 vom: 10. Jan., Seite 18-30 |
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| Auteur principal: | |
| Autres auteurs: | , |
| Format: | Article en ligne |
| Langue: | English |
| Publié: |
2015
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| Accès à la collection: | IEEE transactions on visualization and computer graphics |
| Sujets: | Journal Article Research Support, Non-U.S. Gov't |
| Résumé: | In this paper, we present a local motion planning algorithm for character animation. We focus on motion planning between two distant postures where linear interpolation leads to penetrations. Our framework has two stages. The motion planning problem is first solved as a Boundary Value Problem (BVP) on an energy graph which encodes penetrations, motion smoothness and user control. Having established a mapping from the configuration space to the energy graph, a fast and robust local motion planning algorithm is introduced to solve the BVP to generate motions that could only previously be computed by global planning methods. In the second stage, a projection of the solution motion onto a constraint manifold is proposed for more user control. Our method can be integrated into current keyframing techniques. It also has potential applications in motion planning problems in robotics |
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| Description: | Date Completed 01.12.2015 Date Revised 11.09.2015 published: Print Citation Status PubMed-not-MEDLINE |
| ISSN: | 1941-0506 |
| DOI: | 10.1109/TVCG.2014.2327976 |