Synthesis of complex dynamic character motion from simple animations
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Efficient synthesis of physically valid human motion
ACM SIGGRAPH 2003 Papers
Synthesizing animations of human manipulation tasks
ACM SIGGRAPH 2004 Papers
Multiobjective control with frictional contacts
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
International Journal of Robotics Research
Optimization-based interactive motion synthesis
ACM Transactions on Graphics (TOG)
Full-Body Avatar Control with Environment Awareness
IEEE Computer Graphics and Applications
Interactive synthesis of human-object interaction
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Computers and Industrial Engineering
Optimal feedback control for character animation using an abstract model
ACM SIGGRAPH 2010 papers
Global manipulation planning in robot joint space with task constraints
IEEE Transactions on Robotics
Performance capture with physical interaction
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Planning foot placements for a humanoid robot: A problem of inverse kinematics
International Journal of Robotics Research
Randomized multi-modal motion planning for a humanoid robot manipulation task
International Journal of Robotics Research
Testing Static Equilibrium for Legged Robots
IEEE Transactions on Robotics
Hi-index | 0.00 |
This paper presents a generic approach to find optimal postures, including contact positions, for manipulation tasks. It can be used in either the preparation for a task, or the evaluation of the feasibility of a task during planning stages. With such an approach, an animator can control a virtual character from a high level by just specifying a task, such as moving an object along a desired path to a desired position; the animator does not need to manually find suitable postures for the task. For each task, an optimization problem is solved, which considers not only geometric and kinematic constraints, but also force and moment constraints. The optimized postures allow the virtual character to apply manipulation forces as strongly as possible, and meanwhile to avoid foot slipping. Moreover, potential perturbation forces can be taken into account in the optimization to make postures more robust. The realism of our approach is demonstrated with different types of manipulation tasks.