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Article: An energy-driven motion planning method for two distant postures

TitleAn energy-driven motion planning method for two distant postures
Authors
Keywordsmotion planning
Character animation
Issue Date2015
Citation
IEEE Transactions on Visualization and Computer Graphics, 2015, v. 21, n. 1, p. 18-30 How to Cite?
Abstract© 1995-2012 IEEE. In this paper, we present a local motion planning algorithm for character animation. We focus on motion planning between two distant postures where linear interpolation leads to penetrations. Our framework has two stages. The motion planning problem is first solved as a Boundary Value Problem (BVP) on an energy graph which encodes penetrations, motion smoothness and user control. Having established a mapping from the configuration space to the energy graph, a fast and robust local motion planning algorithm is introduced to solve the BVP to generate motions that could only previously be computed by global planning methods. In the second stage, a projection of the solution motion onto a constraint manifold is proposed for more user control. Our method can be integrated into current keyframing techniques. It also has potential applications in motion planning problems in robotics.
Persistent Identifierhttp://hdl.handle.net/10722/288840
ISSN
2023 Impact Factor: 4.7
2023 SCImago Journal Rankings: 2.056
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorWang, He-
dc.contributor.authorHo, Edmond S.L.-
dc.contributor.authorKomura, Taku-
dc.date.accessioned2020-10-12T08:06:01Z-
dc.date.available2020-10-12T08:06:01Z-
dc.date.issued2015-
dc.identifier.citationIEEE Transactions on Visualization and Computer Graphics, 2015, v. 21, n. 1, p. 18-30-
dc.identifier.issn1077-2626-
dc.identifier.urihttp://hdl.handle.net/10722/288840-
dc.description.abstract© 1995-2012 IEEE. In this paper, we present a local motion planning algorithm for character animation. We focus on motion planning between two distant postures where linear interpolation leads to penetrations. Our framework has two stages. The motion planning problem is first solved as a Boundary Value Problem (BVP) on an energy graph which encodes penetrations, motion smoothness and user control. Having established a mapping from the configuration space to the energy graph, a fast and robust local motion planning algorithm is introduced to solve the BVP to generate motions that could only previously be computed by global planning methods. In the second stage, a projection of the solution motion onto a constraint manifold is proposed for more user control. Our method can be integrated into current keyframing techniques. It also has potential applications in motion planning problems in robotics.-
dc.languageeng-
dc.relation.ispartofIEEE Transactions on Visualization and Computer Graphics-
dc.subjectmotion planning-
dc.subjectCharacter animation-
dc.titleAn energy-driven motion planning method for two distant postures-
dc.typeArticle-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/TVCG.2014.2327976-
dc.identifier.scopuseid_2-s2.0-84915791238-
dc.identifier.volume21-
dc.identifier.issue1-
dc.identifier.spage18-
dc.identifier.epage30-
dc.identifier.isiWOS:000345907200004-
dc.identifier.issnl1077-2626-

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