Task-priority based redundancy control of robot manipulators
International Journal of Robotics Research
Computer animation of knowledge-based human grasping
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
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
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Verbs and Adverbs: Multidimensional Motion Interpolation
IEEE Computer Graphics and Applications
Planning biped locomotion using motion capture data and probabilistic roadmaps
ACM Transactions on Graphics (TOG)
The orchestration of behaviours using resources and priority levels
Proceedings of the Eurographic workshop on Computer animation and simulation
Real-Time Reach Planning for Animated Characters Using Hardware Acceleration
CASA '03 Proceedings of the 16th International Conference on Computer Animation and Social Agents (CASA 2003)
Synthesizing animations of human manipulation tasks
ACM SIGGRAPH 2004 Papers
Behavior planning for character animation
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Interactive animation of dynamic manipulation
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
Interactive motion correction and object manipulation
Proceedings of the 2007 symposium on Interactive 3D graphics and games
Prioritized optimization for task-space control
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Generalized biped walking control
ACM SIGGRAPH 2010 papers
Feature-based locomotion controllers
ACM SIGGRAPH 2010 papers
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
Relationship descriptors for interactive motion adaptation
Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation
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We introduce a physics-based method to synthesize concurrent object manipulation using a variety of manipulation strategies provided by different body parts, such as grasping objects with the hands, carrying objects on the shoulders, or pushing objects with the elbows or the torso. We design dynamic controllers to physically simulate upper-body manipulation and integrate it with procedurally generated locomotion and hand grasping motion. The output of the algorithm is a continuous animation of the character manipulating multiple objects and environment features concurrently at various locations in a constrained environment. To capture how humans deftly exploit different properties of body parts and objects for multitasking, we need to solve challenging planning and execution problems. We introduce a graph structure, a manipulation graph, to describe how each object can be manipulated using different strategies. The problem of manipulation planning can then be transformed to a standard graph traversal. To achieve the manipulation plan, our control algorithm optimally schedules and executes multiple tasks based on the dynamic space of the tasks and the state of the character. We introduce a "task consistency" metric to measure the physical feasibility of multitasking. Furthermore, we exploit the redundancy of control space to improve the character's ability to multitask. As a result, the character will try its best to achieve the current tasks while adjusting its motion continuously to improve the multitasking consistency for future tasks.