Wang, H orcid.org/0000-0002-2281-5679, Ho, ESL and Komura, T (2015) An energy-driven motion planning method for two distant postures. IEEE Transactions on Visualization and Computer Graphics, 21 (1). 1. pp. 18-30. ISSN 1077-2626
Abstract
In this paper, we present a local motion planning algorithm for character animation. We focus on motion planning between two distant postures where linear interpolation leads to penetrations. Our framework has two stages. The motion planning problem is first solved as a Boundary Value Problem (BVP) on an energy graph which encodes penetrations, motion smoothness and user control. Having established a mapping from the configuration space to the energy graph, a fast and robust local motion planning algorithm is introduced to solve the BVP to generate motions that could only previously be computed by global planning methods. In the second stage, a projection of the solution motion onto a constraint manifold is proposed for more user control. Our method can be integrated into current keyframing techniques. It also has potential applications in motion planning problems in robotics.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. |
Keywords: | Planning; Interpolation; Equations; Couplings; Animation; Manifolds; Joints |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Computing (Leeds) > Institute for Computational and Systems Science (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 03 Nov 2016 11:37 |
Last Modified: | 27 Jan 2018 15:44 |
Status: | Published |
Publisher: | https://doi.org/10.1109/TVCG.2014.2327976 |
Identification Number: | 10.1109/TVCG.2014.2327976 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:106108 |