Interactive Manipulation Planning for Animated Characters

We present a brief overview of an algorithm for interactively animating object grasping and manipulation tasks for human figures. The technique is designed to efficiently generate feasible single-arm manipulation motions given highlevel task commands. For moving an object, the motions necessary for a human arm to reach and grasp the object, reposition it, and return the arm to rest are generated automatically within a few seconds on average. The method synthesizes motion “on-the-fly” by directly searching the configuration space of the arm. Goal configurations for the arm are computed using an inverse kinematics algorithm that attempts to select a natural posture. A collision-free trajectory connecting the arm initial configuration to the goal configuration is computed using a randomized path planner. A high-level description of the methods is given along with results from some computed examples using a human character model.

• Type: Conference
• Year: 2000
• Where: PG
• Authors: James J. Kuffner Jr., Jean-Claude Latombe
• Keywords: Arm Initial Configuration, Computer Graphics, Human Arm, PG 2000, Single-arm Manipulation Motions