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3D Collision Avoidance for Digital Actors Locomotion

Julien Pettré 1 Jean-Paul Laumond 2 Thierry Simeon 3 
2 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
LAAS - Laboratoire d'analyse et d'architecture des systèmes
3 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : This paper presents some evolutions over the locomotion planning problem for digital actors. The solution is based both on probabilistic motion planning and on motion capture blending and warping. The paper particularly focuses on a new collision avoidance technique: while the legs and the pelvis of the digital actor follow a planned path, the animation of the upper part of the body is updated for 3D collision avoidance purposes.
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Julien Pettré, Jean-Paul Laumond, Thierry Simeon. 3D Collision Avoidance for Digital Actors Locomotion. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), 2003, Las Vegas, United States. pp.400--405, ⟨10.1109/IROS.2003.1250661⟩. ⟨inria-00473310⟩

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