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Animating reactive motion using momentum-based inverse kinematics

Animating reactive motion using momentum-based inverse kinematics. CASA 2005. Animating reactive motion using momentum-based inverse kinematics. Taku Komura S.L. Ho W.H. Lau Department of Computer Science City University of Hong Kong. Outline. Introduction Generating Reactive Motions

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Animating reactive motion using momentum-based inverse kinematics

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  1. Animating reactive motion using momentum-based inverse kinematics CASA 2005

  2. Animating reactive motion using momentum-based inverse kinematics Taku Komura S.L. Ho W.H. Lau Department of Computer ScienceCity University of Hong Kong

  3. Outline • Introduction • Generating Reactive Motions • Results and Discussion

  4. Introduction • Motion capture data has become a popular and an effective means of animating human figures. • Due to the quality and realism of the result. • The synthesis of motion capture data is a challenging research problem. • Only a limited number of methods consider reactive motions.

  5. Introduction • Interactive generation of reactive motions are very important to many applications. • Computer games • A new method to generate reactive motions for arbitrary external perturbations • Pushing, pulling, or hitting vs.standing, walking, or running

  6. Motion Database • Basic standing, walking, and running • Primary motion • Pushed/pulled from eight different directions • Front, side, front-side, and back-side

  7. Outline • Introduction • Generating Reactive Motions • Results and Discussion

  8. Generating Reactive Motions • Step 1: Adding impact • The user specifies the position, amplitude and direction. • Step 2: Motion search • The one minimized the criteria is chosen. • Step 3: Editing found motion • According to the strength of the perturbation • Step 4: Generating final motion • Momentum-based IK

  9. Step 1: Adding impact • The amount of impact, is calculated by subtracting the linear momentum of the body before the impact from that after the impact. • p: the position of the impactxg: the position of COM

  10. Step 2: Motion Search • The reactive motion which includes a frame that minimizes the following criteria will be selected from the database. • It is much simpler than the one used by other graph-based motion stochastic methods.

  11. Step 3: Editing found motion • The positions of the foot steps must be changed according to the amplitude and direction of the impact. • The velocity of the body is linearly dependent on the displacement of the landing foot onto the ground.

  12. Step 3: Editing found motion • Blends the angular momentum. • Let the difference at the moment blending starts be .

  13. Step 4: Generating final motion • Once the reactive motion is chosen and edited, this motion will be blended into the primary motion using momentum-based IK.

  14. Outline • Introduction • Generating Reactive Motions • Results and Discussion

  15. Results

  16. Discussion • The criteria to select the motion in the database is much simpler than previous methods such as in Lee et al., the computation time is much shorter. • But for offline process, such as Motion Graph, there is no doubt works better. • Foot sliding can easily happen if the primary motion and the reactive motion is simply interpolated. • The momentum-based constraints help keep the motion realistic even after editing the motion or adding new constraints.

  17. END

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