Departmental Papers (CIS)

Date of this Version

May 2003

Document Type

Conference Paper

Comments

Copyright © 2003 IEEE. Reprinted from Proceedings of the IEEE Computer Society 16th International Conference on Computer Animation and Social Agents, 2003 (CASA'03), held 8-9 May 2003, pages 86-93. Publisher URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=27000

This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.

Abstract

We present a heuristic-based real-time reach planning algorithm for virtual human figures. Given the start and goal positions in a 3D workspace, our problem is to compute a collision-free path that specifies all the configurations for a human arm to move from the start to the goal. Our algorithm consists of three modules: spatial search, inverse kinematics, and collision detection. For the search module, instead of searching in joint configuration space like most existing motion planning methods do, we run a direct search in the workspace, guided by a heuristic distance-to-goal evaluation function. The inverse kinematics module attempts to select natural posture configurations for the arm along the path found in the workspace. During the search, candidate configurations will be checked for collisions taking advantage of the graphics hardware – depth buffer. The algorithm is fast and easy to implement. It allows real-time planning not only in static, structured environments, but also in dynamic, unstructured environments. No preprocessing and prior knowledge about the environment is required. Several examples are shown illustrating the competence of the planner at generating motion plans for a typical human arm model with seven degrees of freedom.

Keywords

collision avoidance, computer animation, real-time systems, robot kinematics, search problems, virtual reality, 3D workspace, animated characters, collision detection, collision-free path, direct search, distance-to-goal evaluation function, dynamic unstructured environments, graphics hardware-depth buffer, hardware acceleration, heuristic-based algorithm, human arm model, inverse kinematics, inverse kinematics module, natural posture configurations, real-time reach planning, spatial search, virtual human figures

Share

COinS
 

Date Posted: 18 August 2004