We present new techniques that use motion planning algorithms based on probabilistic roadmaps to control 22 degrees of freedom (DOFs) of human‐like characters in interactive applications. Our main purpose is the automatic synthesis of collision‐free reaching motions for both arms, with automatic column control and leg flexion. Generated motions are collision‐free, in equilibrium, and respect articulation range limits. In order to deal with the high (22) dimension of our configuration space, we bias the random distribution of configurations to favor postures most useful for reaching and grasping. In addition, extensions are presented in order to interactively generate object manipulation sequences: a probabilistic inverse kinematics solver for proposing goal postures matching pre‐designed grasps; dynamic update of roadmaps when obstacles change position; online planning of object location transfer; and an automatic stepping control to enlarge the character's reachable space. This is, to our knowledge, the first time probabilistic planning techniques are used to automatically generate collision‐free reaching motions involving the entire body of a human‐like character at interactive frame rates.
Categories and Subject Descriptors (according to ACM CCS): I.3.7 [Computer Graphics]: Three‐Dimensional Graphics and Realism
We present new techniques that use motion planning algorithms based on probabilistic roadmaps to control 22 degrees of freedom (DOFs) of human-like characters in interactive applications. Our main purpose is the automatic synthesis of collision-free reaching motions for both arms, with automatic column control and leg flexion. Generated motions are collision-free, in equilibrium, and respect articulation range limits. In order to deal with the high (22) dimension of our configuration space, we bias the random distribution of configurations to favor postures most useful for reaching and grasping. In addition, extensions are presented in order to interactively generate object manipulation sequences: a probabilistic inverse kinematics solver for proposing goal postures matching pre-designed grasps; dynamic update of roadmaps when obstacles change position; online planning of object location transfer; and an automatic stepping control to enlarge the character's reachable space. This is, to our knowledge, the first time probabilistic planning techniques are used to automatically generate collision-free reaching motions involving the entire body of a human-like character at interactive frame rates.
Categories and Subject Descriptors(according to ACM CCS): I.3.7 [Computer Graphics]: Three-Dimensional Graphics and Realism † Work done while at EPFL -Virtual Reality Lab nity. Most of the techniques developed 1 have not sufficiently explored this domain.The automatic generation of collision-free grasping sequences has several direct applications in virtual reality, games, and computer animation. And yet, producing collision-free grasping motions currently involves lots of tedious manual work from designers.Motion planning originated in Robotics, with an emphasis on the synthesis of collision-free motions for any sort of robotic structure 2 . Some works have applied mo-
This paper presents an evaluation of the benefits and user acceptance of a multimodal interface in which the user interacts with a game-like interactive virtual reality application ''The Enigma of the Sphinx''. The interface consists of a large projection screen as the main display, a ''magic wand'', a stereo sound system and the user's voice for ''casting spells''. We present our conclusions concerning ''friendliness'' and sense of presence, based on observations of more than 150 users in a public event. r
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.