Passive control architecture for virtual humans

Author

Rennuit, Antoine ; Micaelli, Alain ; Merlhiot, Xavier ; Andriot, Claude ; Guillaume, François ; Chevassus, Nicolas ; Chablat, Damien ; Chedmail, P.

Author_Institution

CEA/LIST, Fontenay-aux-Roses, France

fYear

2005

fDate

2-6 Aug. 2005

Firstpage

1432

Lastpage

1437

Abstract

In the present paper, we introduce a new control architecture aimed at driving virtual humans in interaction with virtual environments, by motion capture. It brings decoupling of functionalities, and also of stability thanks to passivity. We show projections can break passivity, and thus must be used carefully. Our control scheme enables task space and internal control, contact, and joint limits management. Thanks to passivity, it can be easily extended. Besides, we introduce a new tool as for manikin´s control, which makes it able to build passive projections, so as to guide the virtual manikin when sharp movements are needed.

Keywords

image motion analysis; motion control; virtual reality; joint limits management; manikin control; motion capture; passive control architecture; passive projection; virtual environment; virtual human; virtual manikin; Animation; Avatars; Computer graphics; Computer industry; Constraint optimization; Equations; Humans; Motion control; Stability; Virtual environment; Contact; Motion capture; Passive projections; Virtual humans;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8912-3

Type

conf

DOI

10.1109/IROS.2005.1545543

Filename

1545543