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Animating reactive motion using momentum-based inverse kinematics. CASA 2005. Animating reactive motion using momentum-based inverse kinematics. Taku Komura S.L. Ho W.H. Lau Department of Computer Science City University of Hong Kong. Outline. Introduction Generating Reactive Motions

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animating reactive motion using momentum based inverse kinematics1

Animating reactive motion using momentum-based inverse kinematics

Taku Komura S.L. Ho W.H. Lau

Department of Computer ScienceCity University of Hong Kong

outline
Outline
  • Introduction
  • Generating Reactive Motions
  • Results and Discussion
introduction
Introduction
  • Motion capture data has become a popular and an effective means of animating human figures.
    • Due to the quality and realism of the result.
  • The synthesis of motion capture data is a challenging research problem.
    • Only a limited number of methods consider reactive motions.
introduction1
Introduction
  • Interactive generation of reactive motions are very important to many applications.
    • Computer games
  • A new method to generate reactive motions for arbitrary external perturbations
    • Pushing, pulling, or hitting vs.standing, walking, or running
motion database
Motion Database
  • Basic standing, walking, and running
    • Primary motion
  • Pushed/pulled from eight different directions
    • Front, side, front-side, and back-side
outline1
Outline
  • Introduction
  • Generating Reactive Motions
  • Results and Discussion
generating reactive motions
Generating Reactive Motions
  • Step 1: Adding impact
    • The user specifies the position, amplitude and direction.
  • Step 2: Motion search
    • The one minimized the criteria is chosen.
  • Step 3: Editing found motion
    • According to the strength of the perturbation
  • Step 4: Generating final motion
    • Momentum-based IK
step 1 adding impact
Step 1: Adding impact
  • The amount of impact, is calculated by subtracting the linear momentum of the body before the impact from that after the impact.
  • p: the position of the impactxg: the position of COM
step 2 motion search
Step 2: Motion Search
  • The reactive motion which includes a frame that minimizes the following criteria will be selected from the database.
  • It is much simpler than the one used by other graph-based motion stochastic methods.
step 3 editing found motion
Step 3: Editing found motion
  • The positions of the foot steps must be changed according to the amplitude and direction of the impact.
  • The velocity of the body is linearly dependent on the displacement of the landing foot onto the ground.
step 3 editing found motion1
Step 3: Editing found motion
  • Blends the angular momentum.
  • Let the difference at the moment blending starts be .
step 4 generating final motion
Step 4: Generating final motion
  • Once the reactive motion is chosen and edited, this motion will be blended into the primary motion using momentum-based IK.
outline2
Outline
  • Introduction
  • Generating Reactive Motions
  • Results and Discussion
discussion
Discussion
  • The criteria to select the motion in the database is much simpler than previous methods such as in Lee et al., the computation time is much shorter.
  • But for offline process, such as Motion Graph, there is no doubt works better.
  • Foot sliding can easily happen if the primary motion and the reactive motion is simply interpolated.
  • The momentum-based constraints help keep the motion realistic even after editing the motion or adding new constraints.