Motions Planning for Virtual Character

Abstract

The existence of a virtual character in an environment requires its interaction within it. This interaction involves a combination of two skills, which are locomotion and manipulation. Our method treats this type of full-body motion planning problems. Where locomotion and manipulation are planned separately and coordinated with each other. We use a locomotion planner based on motion graph that searches for convenient body position for performing the manipulation motions successfully, and combined with a an iterative inverse kinematic method. The IK method adjusts the upper-body end effectors in real time to new constraints for planning manipulation motions. As a result, our method is able to automatically coordinate whole-body motions for planning virtual character locomotion and manipulation.