Abstract

We apply manipulation planning to computer animation. A new path planner is presented that automatically computes the collision-free trajectories for several cooperating arms to manipulate a movable object between two configurations. This implemented planner is capable of dealing with complicated tasks where regrasping is involved. In addition, we present a new inverse kinematics algorithm for the human arms. This algorithm is utilized by the planner for the generation of realistic human arm motions as they manipulate objects. We view our system as a tool for facilitating the production of animation.

Keywords

AnimationPlannerInverse kinematicsComputer animationComputer scienceMotion planningKinematicsObject (grammar)Path (computing)Computer visionComputer graphics (images)Character animationArtificial intelligenceSimulationRobotProgramming language

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Related Publications

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Publication Info

Year
1994
Type
article
Pages
395-408
Citations
269
Access
Closed

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Cite This

Yoshihito Koga, Koichi Kondo, James Kuffner et al. (1994). Planning motions with intentions. Proceedings of the 21st annual conference on Computer graphics and interactive techniques - SIGGRAPH '94 , 395-408. https://doi.org/10.1145/192161.192266

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DOI
10.1145/192161.192266

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Data completeness: 81%