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Planning motions with intentions

Authors:

Yoshihito Koga,

Jean-Claude LatombeAuthors Info & Claims

SIGGRAPH '94: Proceedings of the 21st annual conference on Computer graphics and interactive techniques

Pages 395 - 408

https://doi.org/10.1145/192161.192266

Published: 24 July 1994 Publication History

Abstract

We apply manipulation planning to computer animation. A new path planner is presented that automatically computes the collision-free trajectories for several cooperating arms to manipulate a movable object between two configurations. This implemented planner is capable of dealing with complicated tasks where regrasping is involved. In addition, we present a new inverse kinematics algorithm for the human arms. This algorithm is utilized by the planner for the generation of realistic human arm motions as they manipulate objects. We view our system as a tool for facilitating the production of animation.

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Cited By

Yang ZYin KLiu L(2022)Learning to use chopsticks in diverse gripping stylesACM Transactions on Graphics10.1145/3528223.353005741:4(1-17)Online publication date: 22-Jul-2022
https://dl.acm.org/doi/10.1145/3528223.3530057
Qureshi ADong JBaig AYip M(2022)Constrained Motion Planning Networks XIEEE Transactions on Robotics10.1109/TRO.2021.309607038:2(868-886)Online publication date: Apr-2022
https://doi.org/10.1109/TRO.2021.3096070
Hwang JPark GSuh IKwon T(2020)Primitive Object Grasping for Finger Motion SynthesisComputer Graphics Forum10.1111/cgf.1418740:1(266-278)Online publication date: 29-Dec-2020
https://doi.org/10.1111/cgf.14187
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Index Terms

Planning motions with intentions
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
2. Computing methodologies
  1. Artificial intelligence
    1. Control methods
      1. Robotic planning
    2. Planning and scheduling
      1. Robotic planning
  2. Computer graphics
    1. Animation

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cover image ACM Conferences

SIGGRAPH '94: Proceedings of the 21st annual conference on Computer graphics and interactive techniques

July 1994

512 pages

ISBN:0897916670

DOI:10.1145/192161

Chairmen:
Dino Schweitzer
US Air Force Academy, Colorado
,
Andrew Glassner,
Mike Keeler

Copyright © 1994 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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New York, NY, United States

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Published: 24 July 1994

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SIGGRAPH '94 Paper Acceptance Rate 57 of 242 submissions, 24%;

Overall Acceptance Rate 1,822 of 8,601 submissions, 21%

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Cited By

Yang ZYin KLiu L(2022)Learning to use chopsticks in diverse gripping stylesACM Transactions on Graphics10.1145/3528223.353005741:4(1-17)Online publication date: 22-Jul-2022
https://dl.acm.org/doi/10.1145/3528223.3530057
Qureshi ADong JBaig AYip M(2022)Constrained Motion Planning Networks XIEEE Transactions on Robotics10.1109/TRO.2021.309607038:2(868-886)Online publication date: Apr-2022
https://doi.org/10.1109/TRO.2021.3096070
Hwang JPark GSuh IKwon T(2020)Primitive Object Grasping for Finger Motion SynthesisComputer Graphics Forum10.1111/cgf.1418740:1(266-278)Online publication date: 29-Dec-2020
https://doi.org/10.1111/cgf.14187
Wan WHarada KKanehiro F(2020)Preparatory Manipulation Planning Using Automatically Determined Single and Dual ArmIEEE Transactions on Industrial Informatics10.1109/TII.2019.289277216:1(442-453)Online publication date: Jan-2020
https://doi.org/10.1109/TII.2019.2892772
Wang YHarada KWan W(2020)Motion planning of skillful motions in assembly process through human demonstrationAdvanced Robotics10.1080/01691864.2020.178226034:16(1079-1093)Online publication date: 23-Jun-2020
https://doi.org/10.1080/01691864.2020.1782260
Van De Perre GCao HDe Beir AEsteban PLefeber DVanderborght B(2018)Generic method for generating blended gestures and affective functional behaviors for social robotsAutonomous Robots10.1007/s10514-017-9650-042:3(569-580)Online publication date: 1-Mar-2018
https://dl.acm.org/doi/10.1007/s10514-017-9650-0
Kang CLee S(2017)Multi-Contact Locomotion Using a Contact Graph with Feasibility PredictorsACM Transactions on Graphics10.1145/3072959.298361936:4(1)Online publication date: 16-Jul-2017
https://dl.acm.org/doi/10.1145/3072959.2983619
Kang CLee S(2017)Multi-Contact Locomotion Using a Contact Graph with Feasibility PredictorsACM Transactions on Graphics10.1145/298361936:2(1-14)Online publication date: 21-Apr-2017
https://dl.acm.org/doi/10.1145/2983619
Vaillant JBouyarmane KKheddar A(2017)Multi-Character Physical and Behavioral Interactions ControllerIEEE Transactions on Visualization and Computer Graphics10.1109/TVCG.2016.254206723:6(1650-1662)Online publication date: 1-Jun-2017
https://dl.acm.org/doi/10.1109/TVCG.2016.2542067
Ganin PMoskvin VKobrin A(2017)Redundant industrial manipulator control system2017 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)10.1109/ICIEAM.2017.8076111(1-6)Online publication date: May-2017
https://doi.org/10.1109/ICIEAM.2017.8076111
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