Title :
Planning fine motions for a digital factotum
Author :
Arechavaleta, Gustavo ; Esteves, Claudia ; Laumond, Jean-Paul
Author_Institution :
LAAS-CNRS, Toulouse, France
fDate :
28 Sept.-2 Oct. 2004
Abstract :
This paper presents a motion planner for a digital mannequin carrying objects in cluttered environments. The goal is to account for 3-dimensional obstacle avoidance, eye-convincing locomotion as well as manipulation constraints within an integrated motion planning approach. This approach combines probabilistic path planning methods, a motion capture based walking controller and inverse kinematics techniques.
Keywords :
collision avoidance; computer animation; virtual reality; 3-dimensional obstacle avoidance; digital factotum; digital mannequin; eye-convincing locomotion; integrated motion planning; inverse kinematics technique; manipulation constraint; motion capture; probabilistic path planning method; walking controller; Animation; Automatic control; Automatic generation control; Computer graphics; Control systems; Games; Kinematics; Legged locomotion; Path planning; Robotics and automation;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389454
