Motion Planning for Redundant Branching Articulated Figures with Many Degrees of Freedom

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Center for Human Modeling and Simulation
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Ching, Wallace S.
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A fast algorithm is presented that can handle the motion planning problem for articulated figures with branches and many degrees of freedom. The algorithm breaks down the degrees of freedom of the figure into Cspace groups and compute the free motion for each of these groups in a sequential fashion. It traverses the tree in a depth first order to compute the motion for all the branches. A special playback routine is then used to traverse the tree again in a reverse order to playback the final motion. The planner runs in linear time with respect to the total number of Cspace groups without backtracking. We believe that the planner would find a path in most cases and is fast enough for practical use in a wide range of applications.

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1992-07-08
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Center for Human Modeling and Simulation
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2023-05-17T01:03:04.000
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Copyright 1992 IEEE. Reprinted from Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, July 1992, 1499-1506. 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 they copyright laws protecting it.
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