A geometric investigation of reach
A geometric investigation of reach
Articulated figure positioning by multiple constraints
IEEE Computer Graphics and Applications
Interactive behaviors for bipedal articulated figures
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
Inverse kinematics positioning using nonlinear programming for highly articulated figures
ACM Transactions on Graphics (TOG)
Real-time inverse kinematics techniques for anthropomorphic limbs
Graphical Models and Image Processing
Motion Simulation: Dealing with the Ill-Conditioned Equations of Motion for Articulated Figures
IEEE Computer Graphics and Applications
IEEE Computer Graphics and Applications
Practical parameterization of rotations using the exponential map
Journal of Graphics Tools
An inverse kinematics architecture enforcing an arbitrary number of strict priority levels
The Visual Computer: International Journal of Computer Graphics - Special section on implicit surfaces
Presence: Teleoperators and Virtual Environments
Understanding movement for interaction design: frameworks and approaches
Personal and Ubiquitous Computing
Analytical inverse kinematics with body posture control
Computer Animation and Virtual Worlds
Full-body performance animation with Sequential Inverse Kinematics
Graphical Models
Design of Experience and Flow in Movement-Based Interaction
Motion in Games
On scaling strategies for the full-body postural control of virtual mannequins
Interacting with Computers
The Visual Computer: International Journal of Computer Graphics
Full-Body Avatar Control with Environment Awareness
IEEE Computer Graphics and Applications
Real-time and marker-free 3D motion capture for home entertainment oriented applications
ACCV'07 Proceedings of the 8th Asian conference on Computer vision - Volume Part I
Challenges in exploiting prioritized inverse kinematics for motion capture and postural control
GW'05 Proceedings of the 6th international conference on Gesture in Human-Computer Interaction and Simulation
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Despite the large success of games grounded on movement-based interactions the current state of full body motion capture technologies still prevents the exploitation of precise interactions with complex environments. This paper focuses on ensuring a precise spatial correspondence between the user and the avatar. We build upon our past effort in human postural control with a Prioritized Inverse Kinematics framework. One of its key advantage is to ease the dynamic combination of postural and collision avoidance constraints. However its reliance on a linearized approximation of the problem makes it vulnerable to the well-known full extension singularity of the limbs. In such context the tracking performance is reduced and/or less believable intermediate postural solutions are produced. We address this issue by introducing a new type of analytic constraint that smoothly integrates within the prioritized Inverse Kinematics framework. The paper first recalls the background of full body 3D interactions and the advantages and drawbacks of the linearized IK solution. Then the Flexion-EXTension constraint (FLEXT in short) is introduced for the partial position control of limb-like articulated structures. Comparative results illustrate the interest of this new type of integrated analytical and linearized IK control.