Dynamic motion editing by combining an extension of the prioritized inverse kinematics with active dynamic control

By combining prioritized inverse kinematics with active dynamic control, a more intuitive and efficient dynamic motion editing framework is presented. After the original motion data is given, the users only need to set desired motion features or constraints intuitively in either task or joint space. The prioritized inverse kinematics algorithm is extended to the acceleration level to generate desired joint accelerations which satisfy those new high-level constraints based on the priority strategy and simultaneously track the original motion data as much as possible. Using joint accelerations produced by the extended PIK component, the active joint torques required for the tracking control are generated by the model-based inverse dynamics with contact constraints considered. When dynamic interactions are happened, a responsive animation with a short duration is generated first and then the transition is used to return back to usually dynamic motion tracking. Finally, through experimental results, it is shown that our dynamic motion editing framework adapts easily to different tasks and dynamic interactions.