Motion control for virtual human based on IK by two phases and key frames

To improve the efficiency of the motion control and displaying effect of virtual human in virtual network environment,a motion control method combining the key frames method and the inverse kinematics(IK) is presented.For the inverse kinematics,the cyclic-coordinate descent(CCD) algorithm is adjusted to calculate IK by two phases,which the backtracking path is shorten to reduce the computational complexity.For the key frames method,those middle frames which are generated the interpolation of quaternion,would be inserted into the key frames to increase the reality sense of virtual human movement.The rotation angles of joints which are solved by IK not only approach postures,but also make joints more resilient.In addition,the motion feature parameters are introduced to make the action model of virtual human more diversified.