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


Abstract:

Editing recorded motions to make them suitable for different sets of environmental constraints is a general and difficult open problem. In this paper we solve a significant part of this problem by modifying full-body motions with an interactive randomized motion planner. Our method is able to synthesize collision-free motions for specified linkages of multiple animated characters in synchrony with the characters' full-body motions. The proposed method runs at interactive speed for dynamic environments of realistic complexity. We demonstrate the effectiveness of our interactive motion editing approach with two important applications: (a) motion correction (to remove collisions) and (b) synthesis of realistic object manipulation sequences on top of locomotion.

Paper:

Planning Collision-Free Reaching Motions for Interactive
Object Manipulation and Grasping
Marcelo Kallmann, Amaury Aubel, Tolga Abaci and Daniel Thalmann
Computer Graphics Forum (Proceedings of Eurographics) 22-3, 2003

Video:



(51.3 MB .mpg)




Bibtex: 
 
   @article { kallmann03eg,
   author    = {Marcelo Kallmann and Amaury Aubel and Tolga Abaci and Daniel Thalmann},
   title     = {Planning Collision-Free Reaching Motions for Interactive
                Object Manipulation and Grasping},
   journal   = {Computer graphics Forum (Proceedings of Eurographics'03) },
   volume    = {22},
   number    = {3},
   month     = {September},
   year      = {2003},
   pages     = {313--322}
 }

Videos of Selected Individual Parts:  cubes, two hands, fridge, and relocation.


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