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Full-body performance animation with Sequential Inverse Kinematics

Luis Unzueta, Manuel Peinado, Ronan Boulic, Ángel Suescun
2008 Graphical Models  
In this paper, we present an analytic-iterative Inverse Kinematics (IK) method, called Sequential IK (SIK), that reconstructs 3D human full-body movements in real time.  ...  In the first part of this paper, we build on this previous work, extending it to the reconstruction of full-body motion in real time.  ...  Special thanks to the University of Geneva for providing the 3DS Max human body model that can be seen on Figs. 6 and 9.  ... 
doi:10.1016/j.gmod.2008.03.002 fatcat:syvdniaafrc35gn4mvirjnjelu

Expressive Body Animation Pipeline for Virtual Agent [chapter]

Jing Huang, Catherine Pelachaud
2012 Lecture Notes in Computer Science  
Our implementation builds upon a full body reach model using a hybrid kinematics solution.  ...  Our approach offers convincing visual quality results obtained with high real-time performance.  ...  Posture Generation To compute a body posture, we can apply forward kinematics, inverse kinematics or a mix of both techniques.  ... 
doi:10.1007/978-3-642-33197-8_36 fatcat:bzos6tivsbcz7fk4xbb44l45j4

Memetic Evolution for Generic Full-Body Inverse Kinematics in Robotics and Animation

Sebastian Starke, Norman Hendrich, Jianwei Zhang
2018 IEEE Transactions on Evolutionary Computation  
This consists of a video which demonstrates the performance of the proposed memetic evolutionary algorithm for generic full-body inverse kinematics.  ...  tasks in robotics, human-robot interaction and character animation, including dexterous object manipulation, collision-free full-body motion, as well as animation post-processing for video games and films  ...  Robotic arms used for serial inverse kinematics. TABLE II PERFORMANCE II OF THE ALGORITHM IN SOLVING FULL-BODY POSTURES WITH MULTIPLE CARTESIAN OBJECTIVES ON THE NASA VALKYRIE ROBOT.  ... 
doi:10.1109/tevc.2018.2867601 fatcat:waemterauneebgvphaj5dqojbm

Realtime human motion control with a small number of inertial sensors

Huajun Liu, Xiaolin Wei, Jinxiang Chai, Inwoo Ha, Taehyun Rhee
2011 Symposium on Interactive 3D Graphics and Games on - I3D '11  
, our performance animation system is far less intrusive and expensive because it requires a small of motion sensors for full body control.  ...  This paper introduces an approach to performance animation that employs a small number of motion sensors to create an easy-to-use system for an interactive control of a full-body human character.  ...  , our performance animation system is far less intrusive and expensive because it only requires a small number of motion sensors for full body control.  ... 
doi:10.1145/1944745.1944768 dblp:conf/si3d/LiuWCHR11 fatcat:vq4j2gwzk5fxzneajakduqg4i4

Inverse Kinematics Techniques in Computer Graphics: A Survey

A. Aristidou, J. Lasenby, Y. Chrysanthou, A. Shamir
2017 Computer graphics forum (Print)  
Inverse kinematics (IK) is the use of kinematic equations to determine the joint parameters of a manipulator so that the end effector moves to a desired position; IK can be applied in many areas, including  ...  The most popular IK methods are discussed with regard to their performance, computational cost and the smoothness of their resulting postures, while we suggest which IK family of solvers is best suited  ...  with full-body manipulation [BB04] .  ... 
doi:10.1111/cgf.13310 fatcat:vnhvaxmnijhgjech26locrkh2i

Inverse Kinematics and Kinetics for Virtual Humanoids [article]

Ronan Boulic, Richard Kulpa
2007 Eurographics State of the Art Reports  
The present tutorial deals with the use of inverse kinematics and kinetics for postural adaptations of virtual hu- manoids to different kind of constraints.  ...  Then it technically describes two key approaches: the prioritized inverse kinematics for accurate and realistic adaptation and a CCD-like algorithm based on groups for fast and realistic adaptation of  ...  Motivation This tutorial deals with inverse kinematics methods to adapt postures given the goal position and/or orientation of some body parts, noted x g , find the "best" joint state θ of the full body  ... 
doi:10.2312/egt.20071063 fatcat:6pgi2udkavbbnjxwspw65htbtm

Interactive Inverse Kinematics for Human Motion Estimation [article]

Morten Engell-Nørregård, Søren Hauberg, Jerome Lapuyade, Kenny Erleben, Kim Steenstrup Pedersen
2009 Workshop on Virtual Reality Interactions and Physical Simulations  
The inverse kinematics solver deals efficiently and robustly with box constraints and does not suffer from shaking artifacts.  ...  The results show that inverse kinematics can significantly speed up the estimation process, while retaining a quality comparable to a full pose motion estimation system.  ...  Here st denotes some representation of Figure 3 : A human upper body posed using inverse kinematics, with and without joint limits.  ... 
doi:10.2312/pe/vriphys/vriphys09/077-084 dblp:conf/vriphys/Engell-NorregardHLEP09 fatcat:uo73v6jea5fejex5tdeugg6tle

Real-time control of human actions using inertial sensors

HuaJun Liu, FaZhi He, FuXi Zhu, Qing Zhu
2013 Science China Information Sciences  
Creating such a system to assist interactive control of a full-body avatar is challenging because control signals from our performance interfaces are usually inadequate to completely determine the whole  ...  We use a pre-captured motion database to construct a group of local regression models, which are used along with the control signals to synthesize whole body human movement.  ...  To control a standing avatar in real-time, Badler [1] proposed the inverse kinematics (IK) method together with four magnetic sensors.  ... 
doi:10.1007/s11432-013-4898-2 fatcat:breajrsawjbzvn442bslw7baqu

Forward and Inverse Kinematics Seamless Matching Using Jacobian [article]

Zeeshan Bhatti, Asadullah Shah, Farruh Shahidi, Mostafa Karbasi
2014 arXiv   pre-print
The Jacobian Matrix is used to determine the rotation values of each joint of character body part such as arms, between the inverse kinematics and forward kinematics motion.  ...  In this paper the problem of matching Forward Kinematics (FK) motion of a 3 Dimensional (3D) joint chain to the Inverse Kinematics (IK) movement and vice versa has been addressed.  ...  The work in future can be extended to use a full-body inverse and forward kinematics system with easy switching mechanism. The complexity of the algorithm can be further explored and minimized.  ... 
arXiv:1401.1488v1 fatcat:5aeg7ah6uraubpoyfgyl4is3me

Real-Time Animation Using a Mix of Physical Simulation and Kinematics

Herwin van Welbergen, Job Zwiers, Zsófia M. Ruttkay
2009 Journal of Graphics GPU and Game Tools  
The technique is based upon simultaneously using kinematics and physics, applied to different regions of the human body, combined with a torque feedback method that couples the two.  ...  Expressive animation (such as gesturing or conducting) is typically generated using procedural animation techniques.  ...  The blue virtual human is animated with physical simulation and kinematic arm motion, the red virtual human is animated solely with kinematic motion.  ... 
doi:10.1080/2151237x.2009.10129288 fatcat:byv7tikg6zejjfg5gy66dv7wqi

Online acquisition and visualization of motion primitives for humanoid robots

Dana Kulic, Hirotaka Imagawa, Yoshihiko Nakamura
2009 RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication  
This paper proposes an on-line, interactive approach for incremental learning and visualization of full body motion primitives from observation of human motion.  ...  Dana Kulić was with the Department of Mechano-Informatics, University of Tokyo, and is now with the  ...  The authors gratefully acknowledge the assistance of Akihiko Murai with the data set collection.  ... 
doi:10.1109/roman.2009.5326307 dblp:conf/ro-man/KulicIN09 fatcat:x3zo2rdy7rhivoujakzthoulka

Performance Capture with Physical Interaction [article]

Nam Nguyeny, Nkenge Wheatland, David Brown, Brian Parise, C. Karen Liu, Victor Zordan
2010 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation - SCA '04  
This paper introduces a technique for combining performance-based animation with a physical model in order to synthesize complex interactions in an animated scene.  ...  The system unifies kinematic and dynamic aspects of the final motion while allowing user control over the outcome both temporally and spatially across the character's body.  ...  is the output state of the full-body simulation.  ... 
doi:10.2312/sca/sca10/189-195 fatcat:dxqcqyiz4nb2vfpienjl2xeacq

Keys-to-Sim: Transferring Hand-Crafted Key-framed Animations to Simulated Figures using Wide Band Stochastic Trajectory Optimization

Dominik Borer, Martin Guay, Robert W. Sumner
2018 Computer Graphics and Visual Computing  
However, this introduces a challenging problem similar to controlling robotic figures: computing the necessary torques to perform a given task.  ...  In this paper, we address the problem of transferring hand-crafted kinematic motions to a fully simulated figure, by computing open-loop controls necessary to reproduce the target motion.  ...  body inverse kinematics.  ... 
doi:10.2312/cgvc.20181205 dblp:conf/tpcg/BorerGS18 fatcat:hffujrgda5c6jcznzwvwsckhl4

Physically valid statistical models for human motion generation

Xiaolin Wei, Jianyuan Min, Jinxiang Chai
2011 ACM Transactions on Graphics  
Unlike previous statistical motion models, our model can generate physically realistic animations that react to external forces or changes in physical quantities of human bodies and interaction environments  ...  We have evaluated the performance of our system by comparing against ground truth motion data and alternative methods.  ...  Our motion model considers both Newtonian dynamics and contact mechanics for a full-body human figure.  ... 
doi:10.1145/1966394.1966398 fatcat:5m2dzmwpfneunnbdiwxfdfdlay

Gesture-Driven LEGO robots

Lehel István Kovács
2019 Acta Universitatis Sapientiae: Informatica  
In our project the key is inverse kinematics, whitch makes use of the kinematics equations to determine the joint rotation parameters that provide a desired position for each of the robot's end-effectors  ...  Inverse kinematics as an animation technique plays an important role in computer animation and as we will see, robots can be controlled with the help of it.  ...  In kinematics an animated figure is modeled with a skeleton of rigid segments connected with joints, called a kinematic chain.  ... 
doi:10.2478/ausi-2019-0006 fatcat:vvpwufg4cvdxtnfbqmyk5hwj7u
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