Interactive Manipulation Planning for Animated Characters
- James Kuffner, Jr.
- Jean-Claude Latombe
Abstract
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 high-level 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.
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