Full-Body Avatar Control with Environment Awareness
May/June 2009 (vol. 29 no. 3)
pp. 62-75
DOI Bookmark:
http://doi.ieeecomputersociety.org/10.1109/MCG.2009.42
Interactive control of a virtual character through full-body movement has a wide range of applications. However, there is a need for systems that accurately reproduce a performer's motion while accounting for surrounding obstacles. The authors propose an approach based on a Prioritized Inverse Kinematics (IK) constraint solver. Several markers placed on the participant's body are tracked by the virtual character thanks to kinematic constraints. At the same time, the approach monitors the instantaneous displacements of a set of geometric primitives, called observers, attached to different parts of the virtual character. When an observer enters the influence area of an obstacle, any motion component heading toward the obstacle is damped by automatically created preventive constraints. The IK solver satisfies marker and preventive constraints simultaneously. Combined with an anatomically consistent, coupled spine model, the approach yields virtual character postures that remain close to the participant's, while avoiding collisions with the environment. Performance measurements show the maturity of the IK technology for real-time full-body interactions.
1. D.A. Rosenbaum, R.J. Meulenbroek, and J. Vaughan, "Planning Reaching and Grasping Movements: Theoretical Premises and Practical Implications," Motor Control, vol. 5, no. 2, 2001, pp. 99–115.2. D.J. Sturman, "Computer Puppetry," IEEE CG&A, vol. 18, no. 1, 1998, pp. 38–45.3. D. Tolani, A. Goswami, and N.I. Badler, "Real-Time Inverse Kinematics Techniques for Anthropomorphic Limbs," Graphical Models, vol. 62, no. 5, 2000, pp. 353–388.4. X. Zhao and N. Badler, "Interactive Body Awareness," Computer-Aided Design, vol. 26, no. 12, 1994, pp. 861–866.5. G. Baciu and S.K. Wong, "The Impulse Graph: A New Dynamic Structure for Global Collisions," Computer Graphics Forum, vol. 19, no. 3, 2000, pp. 229–238.6. M. Garber and M.C. Lin, "Constraint-Based Motion Planning Using Voronoi Diagrams," Algorithmic Foundations of Robotics V, Springer, 2003, pp. 541–558.7. B. Faverjon and P. Tournassoud, "A Local Based Approach for Path Planning of Manipulators with a High Number of Degrees of Freedom," Proc. 1987 IEEE Int'l Conf. Robotics and Automation, IEEE Press, 1987, pp. 1152–1159.8. W. McNeely, K. Puterbaugh, and J. Troy, "Six Degree-of-Freedom Haptic Rendering Using Voxel Sampling," Proc. 26th Ann. Conf. Computer Graphics and Interactive Techniques, ACM Press/Addison-Wesley, 1999, pp. 401–408.9. R. Lindeman, J. Sibert, and J. Templeman, "The Effect of 3D Widget Representation and Simulated Surface Constraints on Interaction in Virtual Environments," Proc. 2001 IEEE Virtual Reality Conference, IEEE Press, 2001, pp. 141–148.10. D. Bownman and L.F. Hodges, "An Evaluation of Techniques for Grabbing and Manipulating Remote Objects in Immersive Virtual Environments," Proc. 1997 Symp. Interactive 3D Graphics, ACM Press, 1997, pp. 35–38.11. E. Burns et al., "The Hand Is More Easily Fooled than the Eye: Users Are More Sensitive to Visual Interpenetration than to Visual-Proprioceptive Discrepancy," Presence: Teleoperators and Virtual Environments, vol. 15, 2006, pp. 1–15.12. C.B. Zilles and J.K. Salisbury, "A Constraint-Based God-Object Method for Haptic Display," Proc. Int'l Conf. Intelligent Robots and Systems (IROS 95), IEEE Press, 1995, p. 3146.13. P. Baerlocher and R. Boulic, "An Inverse Kinematic Architecture Enforcing an Arbitrary Number of Strict Priority Levels," The Visual Computer, vol. 20, no. 6, 2004, pp. 402–417.14. G. Monheit and N.I. Badler, "A Kinematic Model of the Spine and Torso," IEEE CG&A, vol. 11, no. 2, 1991, pp. 29–38.15. D. Raunhardt and R. Boulic, "Exploiting Coupled Joints," Proc. 2nd Int'l Conf. Computer Graphics Theory and Applications (GRAPP 07), Inst. for Systems and Technologies of Information, Control and Communication, 2007, pp. 13–20.16. M. Peinado et al., "Accurate On-line Avatar Control with Collision Anticipation," Proc. ACM Symp. Virtual Reality Software and Technology (VRST 07), ACM Press, 2007, pp. 89–97.17. P. Fiorini and Z. Shiller, "Motion Planning in Dynamic Environments Using the Relative Velocity Paradigm," Proc. 1993 IEEE Int'l Conf. Robotics and Automation, vol. 1, IEEE Press, 1993, pp. 560–565.18. A. Peternier, D. Thalmann, and F. Vexo, "Mental Vision: A Computer Graphics Teaching Platform," Proc. Int'l Conf. E-learning and Games (Edutainment 06), LNCS 3942, Springer, 2006, pp. 223–232.
Index Terms:
Virtual reality, motion capture, character animation, inverse kinematics, collision avoidance.
Citation:
Manuel Peinado, Damien Maupu, Daniel Raunhardt, Daniel Meziat, Daniel Thalmann, Ronan Boulic, "Full-Body Avatar Control with Environment Awareness," IEEE Computer Graphics and Applications, vol. 29, no. 3, pp. 62-75, May/June 2009, doi:10.1109/MCG.2009.42
Usage of this product signifies your acceptance of the
Terms of Use.
|
|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
Digg
Furl
Spurl
Blink
Simpy
Google
Del.icio.us
Y!MyWeb