HAL Id: inria-00473304
https://hal.inria.fr/inria-00473304
Submitted on 22 Jan 2019
HAL is a multi-disciplinary open access archive for the deposit and dissemination of sci-entific research documents, whether they are pub-lished or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers.
L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.
Planning human walk in virtual environments
Julien Pettré, Thierry Simeon, Jean-Paul Laumond
To cite this version:
Julien Pettré, Thierry Simeon, Jean-Paul Laumond. Planning human walk in virtual environments. IEEE/RSJ International Conference on Intelligent Robots and System, 2002, Lausanne, Switzerland. pp.3048–3053, �10.1109/IRDS.2002.1041736�. �inria-00473304�
Lower Torso Upper Torso L Collar Bone L Up Arm L Low Arm L Hand R Collar Bone R Up Arm R Low Arm R Hand Neck Head L Thigh L Low Leg L Foot R Thigh R Foot R Low
Bezier curve control points
Root trajectory Initial situation & orientation
Final situation & orientation P1
P0
P2 P3
MODIFIED ANIMATION BUFFER
SELECT SPECIFIC ANIMATION
MOTION CAPTURE FILE MOTION CAPTURE FILE
MOTION CAPTURE FILE
MOTION CAPTURE FILE
MOTION LIBRARY ANIMATION BUFFER FINAL ANIMATION SAMPLING ROOT’S TRAJECTORY APPLY SUB−CONTROLLER
X Y
APPROX LINE MOTION CAPTURE DATA X,Y ERRORS
X Y t LS RS t ROOT’S TRAJECTORY DATA
ROTATION SPEED PROFILE LINEAR SPEED PROFILE
ROOT’S TRAJECTORY
INITIAL MOTION DATA (3 FILES)
SPEED PROFILE WRAPPING MOTION DATA EDITING
MOTION BLENDING WEIGHTS
MOTION BLENDING RESULT
