An Energy-Driven Motion Planning Method for Two Distant Postures

Wang, He, Ho, Edmond S. L. and Komura, Taku (2015) An Energy-Driven Motion Planning Method for Two Distant Postures. IEEE Transactions on Visualization and Computer Graphics, 21 (1). pp. 18-30. ISSN 1077-2626

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Official URL: http://ieeexplore.ieee.org/document/6824787/

Abstract

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.

Item Type: Article
Uncontrolled Keywords: boundary-value problems; computer animation; graph theory; BVP; boundary value problem; character animation; configuration space; distant posture; energy graph; energy-driven motion planning method; keyframing techniques; local motion planning algorithm; motion generation; robotics; Animation; Couplings; Equations; Interpolation; Joints; Manifolds; Planning; Character animation; motion planning
Subjects: G400 Computer Science
Department: Faculties > Engineering and Environment > Computer and Information Sciences
Depositing User: Edmond S. L. Ho
Date Deposited: 02 Nov 2016 16:44
Last Modified: 02 Nov 2016 16:44
URI: http://nrl.northumbria.ac.uk/id/eprint/28275

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