Online motion retargetting

Abstract

This paper presents a method to retarget the motion of a character to another in real time. The technique is based on inverse rate control, which computes the changes in joint angles corresponding to the changes in end‐effector position. While tracking the multiple end‐effector trajectories of the original subject or character, our online motion retargetting also minimizes the joint angle differences by exploiting the kinematic redundancies of the animated model. This method can apply a captured motion to another anthropometry so that it can perform slightly different motion, while preserving the original motion characteristics. Because the above is done online, a real‐time performance can be mapped to other characters. Moreover, if the method is used interactively during motion capture session, the feedback of retargetted motion on the screen provides more chances to get satisfactory results. As a by‐product, our algorithm can be used to reduce measurement errors in restoring captured motion. The data enhancement improves the accuracy in both joint angles and end‐effector positions. Experimental results show that our retargetting algorithm preserves high‐frequency details of the original motion quite accurately. Copyright © 2000 John Wiley & Sons, Ltd.

A Motion Retargeting Method for Topologically Different Characters

“…Choi [5] proposed a real-time retargeting method based on inverse rate control, computing the optimization solution for a single frame each time. However, Tak [6] pointed out that this method is likely to give rise to the problem of discontinuity. Monzani [2], Yang Shi-nine [9] computed the rotational value of each joint by using inverse kinematics, but this might change the characteristics of the original motion and violate movement balance and kinematics properties.…”

A Direct3D-Based Multi-model E-Learning System for Chinese Sign Language

“…Traditional motion retargeting techniques seldom considered the exact hand gesture [7,8], thus they are inapplicable for gesture retargeting. In this paper we will present a constraint-based IK technique for retargeting standard sign language data to individual 3D models with different size and proportion.…”

An auto-adaptable algorithm to generate human-like locomotion for different humanoid robots based on motion capture data

“…The Honda research institute proposed an online transfer of human motion [5] but only for the upper part of the robot ASIMO. The main contribution of this work is to adapt the computer graphic techniques for retargetting motion to new characters [2], [6] luc.boutin@univ-poitiers.fr the proposed method is demonstrated with the results on a small sized robot (HOAP-3) and on a human-like sized robot (HRP-2) which is quite unusual in the literature. Compared to the computer graphic applications, the difficulties for the humanoid robots is to respect the feet/floor contacts and the dynamic balance.…”