Autonomous object manipulation for virtual humans
ACM SIGGRAPH 2008 classes
Interactive Demonstration of Pointing Gestures for Virtual Trainers
Proceedings of the 13th International Conference on Human-Computer Interaction. Part II: Novel Interaction Methods and Techniques
Integrated Analytic and Linearized Inverse Kinematics for Precise Full Body Interactions
MIG '09 Proceedings of the 2nd International Workshop on Motion in Games
A unified approach to accessibility for a person in a wheelchair
Robotics and Autonomous Systems
Interactive motion modeling and parameterization by direct demonstration
IVA'10 Proceedings of the 10th international conference on Intelligent virtual agents
Full-body hybrid motor control for reaching
MIG'10 Proceedings of the Third international conference on Motion in games
Multi-view body tracking with a detector-driven hierarchical particle filter
AMDO'12 Proceedings of the 7th international conference on Articulated Motion and Deformable Objects
Immersive interfaces for building parameterized motion databases
IVA'12 Proceedings of the 12th international conference on Intelligent Virtual Agents
Hi-index | 0.00 |
This paper presents a novel whole-body analytical inverse kinematics (IK) method integrating collision avoidance and customizable body control for animating reaching tasks in real-time. Whole-body control is achieved with the interpolation of pre-designed key body postures, which are organized as a function of the direction to the goal to be reached. Arm postures are computed by the analytical IK solution for human-like arms and legs, extended with a new simple search method for achieving postures avoiding joint limits and collisions. In addition, a new IK resolution is presented that directly solves for joints parameterized in the swing-and-twist decomposition. The overall method is simple to implement, fast, and accurate, and therefore suitable for interactive applications controlling the hands of characters. The source code of the IK implementation is provided. Copyright © 2007 John Wiley & Sons, Ltd.