A geometric investigation of reach
A geometric investigation of reach
Computer animation of knowledge-based human grasping
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
Simulating humans: computer graphics animation and control
Simulating humans: computer graphics animation and control
Planning motions with intentions
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Retargetting motion to new characters
Proceedings of the 25th annual conference on Computer graphics and interactive techniques
Path finding for human motion in virtual environments
Computational Geometry: Theory and Applications - special issue on virtual reality
Robot Motion Planning
Motion texture: a two-level statistical model for character motion synthesis
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
A Kinematic Model of the Human Spine and Torso
IEEE Computer Graphics and Applications
Practical parameterization of rotations using the exponential map
Journal of Graphics Tools
Interactive Manipulation Planning for Animated Characters
PG '00 Proceedings of the 8th Pacific Conference on Computer Graphics and Applications
Animation planning for virtual characters cooperation
ACM Transactions on Graphics (TOG)
Animation planning for virtual characters cooperation
ACM SIGGRAPH 2008 classes
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We present new techniques that use motion planning algorithms based on probabilistic roadmaps to control 22 degrees of freedom (DOFs) of human-like characters in interactive applications. Our main purpose is the automatic synthesis of collision-free reaching motions for both arms, with automatic column control and leg flexion. Generated motions are collision-free, in equilibrium, and respect articulation range limits. In order to deal with the high (22) dimension of our configuration space, we bias the random distribution of configurations to favor postures most useful for reaching and grasping. In addition, extensions are presented in order to interactively generate object manipulation sequences: a probabilistic inverse kinematics solver for proposing goal postures matching pre-designed grasps; dynamic update of roadmaps when obstacles change position; online planning of object location transfer; and an automatic stepping control to enlarge the character's reachable space. This is, to our knowledge, the first time probabilistic planning techniques are used to automatically generate collision-free reaching motions involving the entire body of a human-like character at interactive frame rates.