Reactive synthesizing of human locomotion combining nonholonomic and holonomic behaviors

Tan-Viet-Anh Truong 1, * David Flavigne 1 Julien Pettré 2 Katja Mombaur 3, 4 Jean-Paul Laumond 1
* Corresponding author
1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
2 BUNRAKU - Perception, decision and action of real and virtual humans in virtual environments and impact on real environments
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, ENS Cachan - École normale supérieure - Cachan, Inria Rennes – Bretagne Atlantique
Abstract : Real trajectories of walking humans can be divided into two major classes: first, nonholonomic trajectories during which the orientation of the human body and the one of the motion are aligned (e.g., straight walking), and second, holonomic ones during which lateral velocities are observed (e.g., side-steps). The major goal of this work is to provide a general locomotion synthesis method for digital actors which enables combining nonholonomic and holonomic walk behaviors. Our motion synthesis technique is based on a motion capture blending method. Such a method is able to transform a lowdimensional trajectory describing the global displacement of a digital actor into a high-dimensional motion which involves all the degrees of freedom of the digital actor body. Our contribution is to extend previously existing motion blending techniques. We consider the desired lateral velocities as a new input of the motion synthesis problem. Thus, the digital actor locomotion is controlled from 3 inputs in our approach: the tangential velocity, the angular velocity and the lateral velocity. The paper describes the major steps of our approach. We first analyze motion captured locomotion cycles to build a Motion Library. The content of the library is projected into the Control Space. Then, at runtime, a desired input is also projected into the Control Space. We deduce a selection of motion captured locomotion cycles from the library, which are finally interpolated to generate a locomotion animation for the digital actors showing the desired input velocities.
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Tan-Viet-Anh Truong, David Flavigne, Julien Pettré, Katja Mombaur, Jean-Paul Laumond. Reactive synthesizing of human locomotion combining nonholonomic and holonomic behaviors. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB 2010), Sep 2010, Tokyo, Japan. ⟨inria-00539220⟩

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