Posture Interpolation with Collision Avoidance
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motion control
posture interpolation
goal-directed behavior
collision avoidance potential fields
self-collision
computer animation
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Abstract
While interpolating between successive postures of an articulated figure is not mathematically difficult, it is much more useful to provide postural transactions that are behaviorally reasonable and that avoid collisions with nearby objects. We describe such a posture interpolator which begins with a number of pre-defined static postures. A finite state machine controls the transactions from any posture to a goal posture by finding the shortest path of required motion sequences between the two. If the motion between any two postures is not collision free, a collision avoidance strategy is invoked and the posture is changed to one that satisfies the required goal while respecting object and agent integrity.