Planning Motions with Intentions
- Yoshihito Koga
- Koichi Kondo
- James Kuffner, Jr.
- Jean-Claude Latombe
Abstract
We apply manipulation planning to computer animation. A new path planner
is presented that automatically computes the collision-free trajectories
for several cooperating arms to manipulate a movable object between two
configurations. This implemented planner is capable of dealing with complicated
tasks where regrasping is involved. In addition, we present a new inverse
kinematics algorithm for the human arms. This algorithm is utilized by
the planner for the generation of realistic human arm motions as
they manipulate objects. We view our system as a tool for facilitating
the production of animation.
Keywords: Task-level graphic animation, automatic manipulation planning,
Human arm kinematics
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