Department of Computer Science
An energy-driven motion planning method for two distant postures
© 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.
Character animation, motion planning
Source Publication Title
IEEE Transactions on Visualization and Computer Graphics
Institute of Electrical and Electronics Engineers
Link to Publisher's Edition
Wang, He, Edmond S.L. Ho, and Taku Komura. "An energy-driven motion planning method for two distant postures." IEEE Transactions on Visualization and Computer Graphics 21.1 (2014): 18-30.