Adaptive locomotion on slopes and stairs using pelvic rotation
T Lee, J Park, T Kwon - The Visual Computer, 2015 - Springer
T Lee, J Park, T Kwon
The Visual Computer, 2015•SpringerIn this paper, we introduce a new online motion retargeting technique to generate natural
locomotion of walking on slopes and stairs using only a single captured reference motion.
An inverse-kinematics solver is developed to generate poses satisfying smooth trajectories
of positional and rotational constraints for feet and hands. By considering the rotations of the
pelvis and upper body, our technique is able to produce natural poses without knee-popping
artifacts.
locomotion of walking on slopes and stairs using only a single captured reference motion.
An inverse-kinematics solver is developed to generate poses satisfying smooth trajectories
of positional and rotational constraints for feet and hands. By considering the rotations of the
pelvis and upper body, our technique is able to produce natural poses without knee-popping
artifacts.
Abstract
In this paper, we introduce a new online motion retargeting technique to generate natural locomotion of walking on slopes and stairs using only a single captured reference motion. An inverse-kinematics solver is developed to generate poses satisfying smooth trajectories of positional and rotational constraints for feet and hands. By considering the rotations of the pelvis and upper body, our technique is able to produce natural poses without knee-popping artifacts.
Springer
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