Full-body performance animation with Sequential Inverse Kinematics

In this paper, we present an analytic-iterative Inverse Kinematics (IK) method, called Sequential IK (SIK), that reconstructs 3D human full-body movements in real time. The input data for the reconstruction is the least possible (i.e., the positions of wrists, ankles, head and pelvis) in order to be usable within a low-cost human motion capture system that would track only these six features. The performance of our approach is compared to other well-known IK methods in reconstruction quality and computation time obtaining satisfactory results for both. The paper first describes how we handle the spine and the clavicles before offering a simple joint limit model for ball-and-socket joints and a method to avoid self-collisions induced by the elbow. The second part focuses on the algorithms comparison study.

[1]  Marcelo Kallmann,et al.  Scalable Solutions for Interactive Virtual Humans that Can Manipulate Objects , 2005, AIIDE.

[2]  A E Engin,et al.  Statistical data base for the biomechanical properties of the human shoulder complex--I: Kinematics of the shoulder complex. , 1986, Journal of biomechanical engineering.

[3]  Samuel R. Buss,et al.  Selectively Damped Least Squares for Inverse Kinematics , 2005, J. Graph. Tools.

[4]  Huosheng Hu,et al.  A complete analytical solution to the inverse kinematics of the Pioneer 2 robotic arm , 2005, Robotica.

[5]  F. Sebastian Grassia,et al.  Practical Parameterization of Rotations Using the Exponential Map , 1998, J. Graphics, GPU, & Game Tools.

[6]  Lucas Kovar,et al.  Motion Graphs , 2002, ACM Trans. Graph..

[7]  Xavier Varona,et al.  Evaluation of on-line analytic and numeric inverse kinematics approaches driven by partial vision input , 2006, Virtual Reality.

[8]  Daniel Thalmann,et al.  Human Motion Capture Driven by Orientation Measurements , 1999, Presence: Teleoperators & Virtual Environments.

[9]  Charles W. Wampler,et al.  Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods , 1986, IEEE Transactions on Systems, Man, and Cybernetics.

[10]  Norman I. Badler,et al.  Simulating humans: computer graphics animation and control , 1993 .

[11]  Aaron Hertzmann,et al.  Style-based inverse kinematics , 2004, ACM Trans. Graph..

[12]  Norman I. Badler,et al.  Real-Time Control of a Virtual Human Using Minimal Sensors , 1993, Presence: Teleoperators & Virtual Environments.

[13]  Michael I. Jordan.  Graphical Models , 2003 .

[14]  Daniel E. Whitney,et al.  Resolved Motion Rate Control of Manipulators and Human Prostheses , 1969 .

[15]  Jessica K. Hodgins,et al.  Performance animation from low-dimensional control signals , 2005, ACM Trans. Graph..

[16]  Bruno Arnaldi,et al.  Morphology‐independent representation of motions for interactive human‐like animation , 2005, Comput. Graph. Forum.

[17]  Daniel Thalmann,et al.  Towards Configurable Motion Capture with Prioritized Inverse Kinematics , 2004 .

[18]  Nak Young Chong,et al.  Inverse kinematics learning by modular architecture neural networks with performance prediction networks , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[19]  M. A. Zohdy,et al.  Robust Control of Robotic Manipulators , 1989, 1989 American Control Conference.

[20]  Ronan Boulic,et al.  Environment-Aware Postural Control of Virtual Humans for Real-time Applications , 2006 .

[21]  S F Jones.  The Physiology of the Joints , 1990 .

[22]  Dinesh Manocha,et al.  Generalized penetration depth computation , 2006, SPM '06.

[23]  I. Kapandji.  The Physiology of the Joints , 1988 .

[24]  I. Kapandji.  The Trunk and the Vertebral Column , 1980 .

[25]  Jessica K. Hodgins,et al.  Tracking and modifying human motion with dynamic simulation , 1999, SIGGRAPH '99.

[26]  Jessica K. Hodgins,et al.  Tracking and Modifying Upper-body Human Motion Data with Dynamic Simulation , 1999, Computer Animation and Simulation.

[27]  J. Verriest,et al.  Three-dimensional modelling of the motion range of axial rotation of the upper arm. , 1998, Journal of biomechanics.

[28]  Wei Wang,et al.  Human motion estimation from a reduced marker set , 2006, I3D '06.

[29]  Yoshihiko Nakamura,et al.  Inverse kinematic solutions with singularity robustness for robot manipulator control , 1986 .

[30]  Pascal Fua,et al.  Automatic Determination of Shoulder Joint Limits using Experimentally Determined Quaternion Field Boundaries , 2003 .

[31]  Craig Cunningham,et al.  The Upper Limb , 2009 .

[32]  Kwang-Jin Choi,et al.  On-line motion retargetting , 1999, Proceedings. Seventh Pacific Conference on Computer Graphics and Applications (Cat. No.PR00293).

[33]  Chih-Cheng Chen,et al.  A combined optimization method for solving the inverse kinematics problems of mechanical manipulators , 1991, IEEE Trans. Robotics Autom..

[34]  Ronan Boulic,et al.  Parametrization and Range of Motion of the Ball-and-Socket Joint , 2000, DEFORM/AVATARS.

[35]  A. A. Maciejewsk.  Dealing with the Ill-Conditioned Epuations of Motion for Articulated Figures , 1990 .

[36]  Stefan Schaal,et al.  Learning inverse kinematics , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[37]  W. Wolovich,et al.  A computational technique for inverse kinematics , 1984, The 23rd IEEE Conference on Decision and Control.

[38]  Anthony A. Maciejewski,et al.  Dealing with the ill-conditioned equations of motion for articulated figures , 1990, IEEE Computer Graphics and Applications.

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

[40]  Kwang-Jin Choi,et al.  Online motion retargetting , 2000, Comput. Animat. Virtual Worlds.

[41]  Anthony A. Maciejewski,et al.  Numerical filtering for the operation of robotic manipulators through kinematically singular configurations , 1988, J. Field Robotics.

[42]  Craig Cunningham,et al.  The Lower Limb , 2009 .

[43]  Sudhanshu Kumar Semwal,et al.  Mapping Algorithms for Real-Time Control of an Avatar Using Eight Sensors , 1998, Presence.

[44]  Lizhuang Ma,et al.  A 12-DOF Analytic Inverse Kinematics Solver for Human Motion Control? , 2004 .

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

[46]  Ernest M. Otani.  Software Tools for Dynamic and Kinematic Modeling of Human Emotion , 1989 .

[47]  Sung Yong Shin,et al.  Computer puppetry: An importance-based approach , 2001, TOGS.

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

[49]  James U. Korein,et al.  A geometric investigation of reach , 1985 .

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

[51]  Pascal Fua,et al.  Automatic Determination of Shoulder Joint Limits Using Quaternion Field Boundaries , 2003, Int. J. Robotics Res..

[52]  Norman I. Badler,et al.  Inverse kinematics positioning using nonlinear programming for highly articulated figures , 1994, TOGS.

[53]  Ronan Boulic,et al.  Versatile walk engine , 2004, J. Game Dev..

[54]  Jiping He,et al.  Determining natural arm configuration along a reaching trajectory , 2005, Experimental Brain Research.