Motion planning and synthesis of human-like characters in constrained environments

Liangjun Zhang; Jia Pan; Dinesh Manocha

doi:10.1007/978-3-642-10347-6_13

Motion planning and synthesis of human-like characters in constrained environments

Liangjun Zhang, Jia Pan, Dinesh Manocha

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

2 Citations (Scopus)

Abstract

We give an overview of our recent work on generating naturally-looking human motion in constrained environments with multiple obstacles. This includes a whole-body motion planning algorithm for high DOF human-like characters. The planning problem is decomposed into a sequence of low dimensional sub-problems. We use a constrained coordination scheme to solve the sub-problems in an incremental manner and a local path refinement algorithm to compute collision-free paths in tight spaces and satisfy the statically stable constraint on CoM. We also present a hybrid algorithm to generate plausible motion by combing the motion computed by our planner with mocap data. We demonstrate the performance of our algorithm on a 40 DOF human-like character and generate efficient motion strategies for object placement, bending, walking, and lifting in complex environments. © Springer-Verlag 2009.

Original language	English
Title of host publication	Motion in Games
Subtitle of host publication	Second International Workshop, MIG 2009, Proceedings
Publisher	Springer Verlag
Pages	138-145
Volume	5884 LNCS
ISBN (Print)	3642103464, 9783642103469
DOIs	https://doi.org/10.1007/978-3-642-10347-6_13
Publication status	Published - 2009
Externally published	Yes
Event	2nd International Workshop on Motion in Games, MIG 2009 - Zeist, Netherlands Duration: 21 Nov 2009 → 24 Nov 2009

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	5884 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	2nd International Workshop on Motion in Games, MIG 2009
Place	Netherlands
City	Zeist
Period	21/11/09 → 24/11/09

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10.1007/978-3-642-10347-6_13

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Zhang, L., Pan, J., & Manocha, D. (2009). Motion planning and synthesis of human-like characters in constrained environments. In Motion in Games: Second International Workshop, MIG 2009, Proceedings (Vol. 5884 LNCS, pp. 138-145). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5884 LNCS). Springer Verlag. https://doi.org/10.1007/978-3-642-10347-6_13

Zhang, Liangjun ; Pan, Jia ; Manocha, Dinesh. / Motion planning and synthesis of human-like characters in constrained environments. Motion in Games: Second International Workshop, MIG 2009, Proceedings. Vol. 5884 LNCS Springer Verlag, 2009. pp. 138-145 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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abstract = "We give an overview of our recent work on generating naturally-looking human motion in constrained environments with multiple obstacles. This includes a whole-body motion planning algorithm for high DOF human-like characters. The planning problem is decomposed into a sequence of low dimensional sub-problems. We use a constrained coordination scheme to solve the sub-problems in an incremental manner and a local path refinement algorithm to compute collision-free paths in tight spaces and satisfy the statically stable constraint on CoM. We also present a hybrid algorithm to generate plausible motion by combing the motion computed by our planner with mocap data. We demonstrate the performance of our algorithm on a 40 DOF human-like character and generate efficient motion strategies for object placement, bending, walking, and lifting in complex environments. {\textcopyright} Springer-Verlag 2009.",

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Zhang, L, Pan, J & Manocha, D 2009, Motion planning and synthesis of human-like characters in constrained environments. in Motion in Games: Second International Workshop, MIG 2009, Proceedings. vol. 5884 LNCS, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 5884 LNCS, Springer Verlag, pp. 138-145, 2nd International Workshop on Motion in Games, MIG 2009, Zeist, Netherlands, 21/11/09. https://doi.org/10.1007/978-3-642-10347-6_13

Motion planning and synthesis of human-like characters in constrained environments. / Zhang, Liangjun; Pan, Jia; Manocha, Dinesh.
Motion in Games: Second International Workshop, MIG 2009, Proceedings. Vol. 5884 LNCS Springer Verlag, 2009. p. 138-145 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5884 LNCS).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

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AB - We give an overview of our recent work on generating naturally-looking human motion in constrained environments with multiple obstacles. This includes a whole-body motion planning algorithm for high DOF human-like characters. The planning problem is decomposed into a sequence of low dimensional sub-problems. We use a constrained coordination scheme to solve the sub-problems in an incremental manner and a local path refinement algorithm to compute collision-free paths in tight spaces and satisfy the statically stable constraint on CoM. We also present a hybrid algorithm to generate plausible motion by combing the motion computed by our planner with mocap data. We demonstrate the performance of our algorithm on a 40 DOF human-like character and generate efficient motion strategies for object placement, bending, walking, and lifting in complex environments. © Springer-Verlag 2009.

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T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

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Zhang L, Pan J, Manocha D. Motion planning and synthesis of human-like characters in constrained environments. In Motion in Games: Second International Workshop, MIG 2009, Proceedings. Vol. 5884 LNCS. Springer Verlag. 2009. p. 138-145. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-642-10347-6_13

Motion planning and synthesis of human-like characters in constrained environments

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