Planning Collision-Free Reaching Motions for Interactive Object Manipulation and Grasping

Computer Graphics Forum

Volumn 22, Issue 3, 2003, Pages 313-322

  Kallmann, Marcelo ^a   Aubel, Amaury ^c   Abaci, Tolga ^b   Thalmann, Daniel ^b  

^a UNIVERSITY OF SOUTHERN CALIFORNIA   (United States)

^b EPFL   (Switzerland)

^c NONE

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; ANIMATION; DEGREES OF FREEDOM (MECHANICS); INTERACTIVE COMPUTER SYSTEMS; MOTION PLANNING; ROBOT APPLICATIONS; THREE DIMENSIONAL COMPUTER GRAPHICS;

OBJECT MANIPULATION;

INTERACTIVE COMPUTER GRAPHICS;

EID: 0141615936     PISSN: 01677055     EISSN: None     Source Type: Journal    
DOI: 10.1111/1467-8659.00678     Document Type: Conference Paper

References (30)

1. N. I. Badler, C. B. Phillips, and B. L. Webber. Simulating Humans: Computer Graphics, Animation and Control. ISBN 0-19-507359-2, 1993.
2. J.-C. Latombe. Robot Motion Planning. ISBN 0-7923-9206-X, Kluwer Academic Publishers, 1991.
3. Y. Koga, K. Kondo, J. Kuffner, and J. Latombe. Planning Motions with Intentions. Proc. of SIGGRAPH'94, 395-408, 1994.
4. J.J. Kuffner and J.C. Latombe. Interactive manipulation planning for animated characters. Proc. of Pacific Graphics'00, poster paper, Hong Kong, October 2000.
5. A. Witkin and Z. Popovic. Motion Warping. Proc. of SIGGRAPH'95, 1995.
6. M. Gleicher. Retargeting Motion to New Characters. Proc. of SIGGRAPH'98, 1998.
7. L. Kovar, M. Gleicher, and F. Pighin. Motion Graphs. Proc. of SIGGRAPH'02, 2002.
8. Y. Li, T. Wang, and H.-Y. Shum. Motion Texture: A Two-Level Statistical Model for Character Motion Synthesis. Proc. of SIGGRAPH'02, 2002.
9. C. F. Rose, P.-P. J. Sloan, and M. F. Cohen. Artist-Directed Inverse-Kinematics Using Radial Basis Function Interpolation. Proc. of Eurographics, 20(3), 2001.
10. D. Tolani, and N. Badler. Real-Time Inverse Kinematics of the Human Arm. Presence, 5(4):393-401, 1996.
11. P. Baerlocher, and R. Boulic. Task-priority Formulations for the Kinematic Control of Highly Redundant Articulated Structures. Proc. of IROS'98, Victoria, Canada, Oct. 1998.
12. X. Wang, and J.-P. Verriest. A Geometric Algorithm to Predict the Arm Reach Posture for Computer-aided Ergonomic Evaluation. Journal of Vis. and Comp. Animation, 9(1):33-47, 1998.
13. L. Kavraki, P. Svestka, J. Latombe, and M. Overmars. Probabilistic Roadmaps for Fast Path Planning in High-Dimensional Configuration Spaces. IEEE Transactions on Robotics and Automation, 12:566-580, 1996.
14. S. La Valle. Rapidly-Exploring Random Trees: A New Tool for Path Planning. Technical Report 98-11, Computer Science Dept., Iowa State University, Oct. 1998.
15. R. Bohlin and L. Kavraki. Path Planning using Lazy PRM. In Proc. of IEEE Int. Conference on Robotics and Automation, ICRA, 2000.
16. T. Simeon, J. P. Laumond, and C. Nissoux. Visibility Based Probabilistic Roadmaps for Motion Planning, Advanced Robotics Journal, 14(2), 2000.
17. J.J. Kuffner and S.M. La Valle. RRT-Connect: An efficient approach to single-query path planning. In Proc. IEEE Int'l Conf. on Robotics and Automation (ICRA'2000), San Francisco, CA, April 2000.
18. S. Bandi and D. Thalmann. Path Finding for Human Motion In Virtual Environments, Computational Geometry 15(1-3): 103-127, 2000.
19. R. Bindiganavale, J. Granieri, S. Wei, X. Zhao, and N. Badler, Posture interpolation with collision avoidance. Computer Animation '94, Geneva, Switzerland, 1994.
20. Y. Aydin, and M. Nakajima. Database guided computer animation of human grasping using forward and inverse kinematics. Computer & Graphics, 23:145-154, 1999.
21. H. Rijpkema and M. Girard. Computer Animation of Knowledge-Based Human Grasping. Proc. of SIGGRAPH'91, 339-348, 1991.
22. M. Kallmann. Object Interaction in Real-Time Virtual Environments. DSc Thesis 2347, EPFL, January 2001.
23. A. A. Khwaja, M. O. Rahman, and M.G. Wagner. Inverse Kinematics of Arbitrary Robotic Manipulators using Genetic Algorithms. J. Lenarcic and M. L. Justy, editors, Advances in Robot Kinematics: Analysis and Control, 375-382. Kluwer Academic Publishers, 1998.
24. M.-H. Lavoie, and R. Boudreau. Obstacle Avoidance for Redundant Manipulators Using a Genetic Algorithm. CCToMM Symp. on Mechan., Machines, and Mechatronics, Canada, 2001.
25. T.-Y, Li, and Y.-C. Shie. An Incremental Learning Approach to Motion Planning with Roadmap Management. Proc. of International Conference on Robotics and Automation (ICRA), 2002.
26. S. Grassia. Practical Parametrization of Rotations Using the Exponential Map. Journal of Graphics Tools, 3(3):29-48, 1998.
27. J. U. Korein. A Geometric Investigation of Reach. The MIT Press, Cambridge, 1985.
28. G. Monheit and N. Badler. A Kinematic Model of the Human Spine and Torso. IEEE Computer Graphics and Applications, 11(2):29-38, 1991.
29. S. Gottschalk, M. C. Lin, and D. Manocha. OBBTree: A Hierarchical Structure for Rapid Interference Detection. Proc. of ACM SIGGRAPH, 171-180, 1996.
30. P. Fitts. The Information Capacity of the Human Motor System in Controlling the Amplitude of Movement. Journal of Experimental Psychology, 47:381-391, 1954.