Dynamically Balanced and Plausible Trajectory Planning for Human-like Characters

Chonhyon Park, Jae Sung Park, Steve Tonneau, Nicolas Mansard, Franck Multon, Julien Pettré, Dinesh Manocha

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publicationProceedings of the 20th ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games
Place of PublicationNew York, NY, USA
PublisherACM
Pages39-48
Number of pages10
ISBN (Print)978-1-4503-4043-4
DOIs
Publication statusPublished - 2016
Event2016 ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games - Redmond, United States
Duration: 27 Feb 201828 Feb 2018
http://i3dsymposium.github.io/2016/

Publication series

NameI3D '16
PublisherACM

Conference

Conference2016 ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games
Abbreviated titlei3D 2016
Country/TerritoryUnited States
CityRedmond
Period27/02/1828/02/18
Internet address

Keywords / Materials (for Non-textual outputs)

  • dynamic balance
  • motion planning
  • plausible motion

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