A Fast Motion Planning Approach for Virtual Human Upper Body

Motion planning for virtual human upper body including torso and arm received continuous interest in computer graphics community in the past year. Though a variety of motion planning approaches have been proposed to address the problem of 7 DOF (degrees of freedom) arm manipulation, planning the motion of entire upper body chain for general manipulation task is remained unresolved as there is no explicit inverse kinematics (IK) solution for the redundant chain. In this paper, a novel unified framework that combines the workspace goal-oriented heuristics and a variant of random sampling strategy called Goal-oriented Rapidly-exploring random tree (Goal_RRT) planner is proposed to efficiently resolve manipulation planning problems for upper body chain without the need of explicit IK solutions. Experimental results demonstrate the method is fast and reliable.

[1]  Katsu Yamane,et al.  Synthesizing animations of human manipulation tasks , 2004, SIGGRAPH 2004.

[2]  B. Faverjon,et al.  Probabilistic Roadmaps for Path Planning in High-Dimensional Con(cid:12)guration Spaces , 1996 .

[3]  Alicia Dickenstein,et al.  Solving Polynomial Equations: Foundations, Algorithms, and Applications , 2010 .

[4]  Dinesh Manocha,et al.  Fast Proximity Queries with Swept Sphere Volumes , 1999 .

[5]  Charles A. Klein,et al.  Review of pseudoinverse control for use with kinematically redundant manipulators , 1983, IEEE Transactions on Systems, Man, and Cybernetics.

[6]  John H. Reif,et al.  Complexity of the mover's problem and generalizations , 1979, 20th Annual Symposium on Foundations of Computer Science (sfcs 1979).

[7]  Jean-Claude Latombe,et al.  Planning motions with intentions , 1994, SIGGRAPH.

[8]  D. Thalmann,et al.  Planning collision-free reaching motions for interactive object manipulation and grasping , 2008, SIGGRAPH '08.

[9]  Steven M. LaValle,et al.  RRT-connect: An efficient approach to single-query path planning , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[10]  Steven M. LaValle,et al.  Planning For Closed Chains Without Inverse Kinematics , 2006 .

[11]  S. LaValle.  Rapidly-exploring random trees : a new tool for path planning , 1998 .

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

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

[14]  Tamim Asfour,et al.  An integrated approach to inverse kinematics and path planning for redundant manipulators , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[15]  R. Paul.  Robot manipulators : mathematics, programming, and control : the computer control of robot manipulators , 1981 .