Full-Body Avatar Control with Environment Awareness

Interactive control of virtual characters through full-body movement requires accurately reproducing a performer's motion while accounting for surrounding obstacles. The authors' approach, based on a prioritized inverse kinematics solver, satisfies marker and preventive constraints simultaneously. Together with a coupled spine model, it yields virtual character postures that are close to the performer's.

[1]  David J. Sturman,et al.  Computer Puppetry , 1998, IEEE Computer Graphics and Applications.

[2]  Ronan Boulic,et al.  Exploiting Coupled Joints , 2007 .

[3]  Norman I. Badler,et al.  Real-Time Inverse Kinematics Techniques for Anthropomorphic Limbs , 2000, Graph. Model..

[4]  Norman I. Badler,et al.  Interactive body awareness , 1994, Comput. Aided Des..

[5]  Doug A. Bowman,et al.  An evaluation of techniques for grabbing and manipulating remote objects in immersive virtual environments , 1997, SI3D.

[6]  B. Faverjon,et al.  A local based approach for path planning of manipulators with a high number of degrees of freedom , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[7]  George Baciu,et al.  The Impulse Graph: A New Dynamic Structure For Global Collisions , 2000, Comput. Graph. Forum.

[8]  D. Rosenbaum,et al.  Planning reaching and grasping movements: theoretical premises and practical implications. , 2001, Motor control.

[9]  James J. Troy,et al.  Six degree-of-freedom haptic rendering using voxel sampling , 1999, SIGGRAPH.

[10]  Ming C. Lin,et al.  Constraint-Based Motion Planning Using Voronoi Diagrams , 2002, WAFR.

[11]  Norman I. Badler,et al.  A kinematic model of the human spine and torso , 1991, IEEE Computer Graphics and Applications.

[12]  Ronan Boulic,et al.  An inverse kinematics architecture enforcing an arbitrary number of strict priority levels , 2004, The Visual Computer.

[13]  P. Fiorini,et al.  Motion planning in dynamic environments using the relative velocity paradigm , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[14]  John Kenneth Salisbury,et al.  A constraint-based god-object method for haptic display , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[15]  Robert W. Lindeman,et al.  The effect of 3D widget representation and simulated surface constraints on interaction in virtual environments , 2001, Proceedings IEEE Virtual Reality 2001.

[16]  Daniel Thalmann,et al.  Mental Vision: A Computer Graphics Teaching Platform , 2006, Edutainment.

[17]  Daniel Thalmann,et al.  Accurate on-line avatar control with collision anticipation , 2007, VRST '07.

[18]  Sharif Razzaque,et al.  The Hand Is More Easily Fooled than the Eye: Users Are More Sensitive to Visual Interpenetration than to Visual-Proprioceptive Discrepancy , 2006, Presence: Teleoperators & Virtual Environments.