Animation Planning for Virtual Mannequin Cooperation
Claudia Esteves, Gustavo Arechavaleta, Jean‐Paul Laumond · 2004
We present a brief overview of an algorithm to automatically compute animations for virtual mannequins cooperating to move bulky objects in cluttered environments. The main challenge is to deal with 3D collision avoidance while preserving the believability of the agents behaviors. To accomplish the coordinated task, a geometric and kinematic decoupling of the system is proposed. This decomposition enables us to plan a collision-free path for a reduced system, then to animate locomotion and grasp behaviors in parallel, and finally to clean up the animation from residual collisions. These three steps are applied consecutively making use of different techniques such as probabilistic path planning, locomotion controllers, inverse kinematics and path planning for closed-kinematic mechanisms.