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conference paper

Planning collision-free reaching motions for interactive object manipulation and grasping

Kallmann, M.  
•
Aubel, A.  
•
Abaci, T.  
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2003
Computer Graphics Forum

We present new techniques that use motion planning algorithms based on probabilistic roadmaps to control 22 degrees of freedom (DOFs) of human-like characters in interactive applications. Our main purpose is the automatic synthesis of collision-free reaching motions for both arms, with automatic column control and leg flexion. Generated motions are collision-free, in equilibrium, and respect articulation range limits. In order to deal with the high (22) dimension of our configuration space, we bias the random distribution of configurations to favor postures most useful for reaching and grasping. In addition, extensions are presented in order to interactively generate object manipulation sequences: a probabilistic inverse kinematics solver for proposing goal postures matching predesigned grasps; dynamic update of roadmaps when obstacles change position; online planning of object location transfer; and an automatic stepping control to enlarge the character's reachable space. This is, to our knowledge, the first time probabilistic planning techniques are used to automatically generate collision-free reaching motions involving the entire body of a human-like character at interactive frame rates

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Type
conference paper
DOI
10.1111/1467-8659.00678
Web of Science ID

WOS:000185322200014

Author(s)
Kallmann, M.  
•
Aubel, A.  
•
Abaci, T.  
•
Thalmann, D.  
Date Issued

2003

Publisher

Blackwell Publishers for Eurographics Assoc

Published in
Computer Graphics Forum
Series title/Series vol.

Comput. Graph. Forum (UK)

Volume

22

Start page

313

End page

22

Subjects

collision avoidance

•

computer animation

•

image motion analysis

•

image sequences

•

interpolation

•

kinematics

Note

Robotics Res. Lab., Univ. of Southern California, Los Angeles, CA, USA

Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
VRLAB  
Available on Infoscience
January 16, 2007
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/239190
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