Abstract
We present an interactive motion planning algorithm to compute plausible trajectories for high-DOF human-like characters. Given a discrete sequence of contact configurations, we use a three-phase optimization approach to ensure that the resulting trajectory is collision-free, smooth, and satisfies dynamic balancing constraints. Our approach can directly compute dynamically balanced and natural-looking motions at interactive frame rates and is considerably faster than prior methods. We highlight its performance on complex human motion benchmarks corresponding to walking, climbing, crawling, and crouching, where the discrete configurations are generated from a kinematic planner or extracted from motion capture datasets.
Original language | English |
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Title of host publication | Proceedings of the 20th ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games |
Place of Publication | New York, NY, USA |
Publisher | ACM |
Pages | 39-48 |
Number of pages | 10 |
ISBN (Print) | 978-1-4503-4043-4 |
DOIs | |
Publication status | Published - 2016 |
Event | 2016 ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games - Redmond, United States Duration: 27 Feb 2018 → 28 Feb 2018 http://i3dsymposium.github.io/2016/ |
Publication series
Name | I3D '16 |
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Publisher | ACM |
Conference
Conference | 2016 ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games |
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Abbreviated title | i3D 2016 |
Country/Territory | United States |
City | Redmond |
Period | 27/02/18 → 28/02/18 |
Internet address |
Keywords / Materials (for Non-textual outputs)
- dynamic balance
- motion planning
- plausible motion