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dc.contributor.authorLiu, Mingxingen_US
dc.contributor.authorMicaelli, Alainen_US
dc.contributor.authorEvrard, Paulen_US
dc.contributor.authorEscande, Adrienen_US
dc.contributor.editorJehee Lee and Paul Kryen_US
dc.date.accessioned2014-01-29T08:00:47Z
dc.date.available2014-01-29T08:00:47Z
dc.date.issued2012en_US
dc.identifier.isbn978-3-905674-37-8en_US
dc.identifier.issn1727-5288en_US
dc.identifier.urihttp://dx.doi.org/10.2312/SCA/SCA12/155-164en_US
dc.description.abstractThis paper presents a generic approach to find optimal postures, including contact positions, for manipulation tasks. It can be used in either the preparation for a task, or the evaluation of the feasibility of a task during planning stages. With such an approach, an animator can control a virtual character from a high level by just specifying a task, such as moving an object along a desired path to a desired position; the animator does not need to manually find suitable postures for the task. For each task, an optimization problem is solved, which considers not only geometric and kinematic constraints, but also force and moment constraints. The optimized postures allow the virtual character to apply manipulation forces as strongly as possible, and meanwhile to avoid foot slipping. Moreover, potential perturbation forces can be taken into account in the optimization to make postures more robust. The realism of our approach is demonstrated with different types of manipulation tasks.en_US
dc.publisherThe Eurographics Associationen_US
dc.subjectI.3.7 [Computer Graphics]en_US
dc.subjectThree Dimensional Graphics and Realismen_US
dc.subjectAnimationen_US
dc.titleTask-driven Posture Optimization for Virtual Charactersen_US
dc.description.seriesinformationEurographics/ ACM SIGGRAPH Symposium on Computer Animationen_US


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