Title :
Passive control architecture for virtual humans
Author :
Rennuit, Antoine ; Micaelli, Alain ; Merlhiot, Xavier ; Andriot, Claude ; Guillaume, François ; Chevassus, Nicolas ; Chablat, Damien ; Chedmail, P.
Author_Institution :
CEA/LIST, Fontenay-aux-Roses, France
Abstract :
In the present paper, we introduce a new control architecture aimed at driving virtual humans in interaction with virtual environments, by motion capture. It brings decoupling of functionalities, and also of stability thanks to passivity. We show projections can break passivity, and thus must be used carefully. Our control scheme enables task space and internal control, contact, and joint limits management. Thanks to passivity, it can be easily extended. Besides, we introduce a new tool as for manikin´s control, which makes it able to build passive projections, so as to guide the virtual manikin when sharp movements are needed.
Keywords :
image motion analysis; motion control; virtual reality; joint limits management; manikin control; motion capture; passive control architecture; passive projection; virtual environment; virtual human; virtual manikin; Animation; Avatars; Computer graphics; Computer industry; Constraint optimization; Equations; Humans; Motion control; Stability; Virtual environment; Contact; Motion capture; Passive projections; Virtual humans;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545543
