Real-time inverse kinematics techniques for anthropomorphic limbs
Graphical Models and Image Processing
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
A Kinematic Model of the Human Spine and Torso
IEEE Computer Graphics and Applications
Interactive Manipulation Planning for Animated Characters
PG '00 Proceedings of the 8th Pacific Conference on Computer Graphics and Applications
Interactive reach planning for animated characters using hardware acceleration
Interactive reach planning for animated characters using hardware acceleration
Synthesizing animations of human manipulation tasks
ACM SIGGRAPH 2004 Papers
Hierarchical motion controllers for real-time autonomous virtual humans
Lecture Notes in Computer Science
Heads up!: biomechanical modeling and neuromuscular control of the neck
ACM SIGGRAPH 2006 Papers
Interactive motion correction and object manipulation
Proceedings of the 2007 symposium on Interactive 3D graphics and games
Analytical inverse kinematics with body posture control
Computer Animation and Virtual Worlds
Autonomous object manipulation for virtual humans
ACM SIGGRAPH 2008 classes
ACM SIGGRAPH 2008 classes
Comprehensive biomechanical modeling and simulation of the upper body
ACM Transactions on Graphics (TOG)
An example-based motion synthesis technique for locomotion and object manipulation
I3D '12 Proceedings of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games
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In this paper, we present a full-body motor control mechanism that generates coordinated and diverse motion during a reaching action. Our framework animates the full human body (stretching arms, flexing of the spine, as well as stepping forward) to facilitate the desired end effector behavior. We propose a hierarchical control system for controlling the arms, spine, and legs of the articulated character and present a controller-scheduling algorithm for coordinating the sub-controllers. High-level parameters can be used to produce variation in the movements for specific reaching tasks. We demonstrate a wide set of behaviors such as stepping and squatting to reach low distant targets, twisting and swinging up to reach high lateral targets, and we show variation in the synthesized motions.