Document Type

Journal Article

Department/Unit

Department of Computer Science

Title

An energy-driven motion planning method for two distant postures

Language

English

Abstract

© 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.

Keywords

Character animation, motion planning

Publication Date

2014

Source Publication Title

IEEE Transactions on Visualization and Computer Graphics

Volume

21

Issue

1

Start Page

18

End Page

30

Publisher

Institute of Electrical and Electronics Engineers

DOI

10.1109/TVCG.2014.2327976

Link to Publisher's Edition

http://dx.doi.org/10.1109/TVCG.2014.2327976

ISSN (print)

10772626

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