CS 326 A: Motion PlanningCS 326 A: Motion Planninghttp://robotics.stanford.edu/~latombe/cs326/2002
Motion Planning for Motion Planning for Digital ActorsDigital Actors
Digital Actor/CharacterDigital Actor/Character
?? Parts DOFL 19 68H 51 118
Digital Actor/CharacterDigital Actor/Character
Ron Fedkiw
Leo Sibille
Some ApplicationsSome Applications
Autonomy
Interactivity
User-controlled
CompletelyAutonomous
Off-line Real-time
Key-frameAnimationSystems
Video GameAdversaries
WebAvatars
DigitalActors
Semi-AutonomousCharacters
Urban / FactorySimulation
Virtual TourGuides
HistoricalNarratives
[Kuffner, 99]
Some ProjectsSome Projects
Synthetic Characters (MIT)
Blumberg, et. Al.
Marilyn (EPFL/Miralab)
Thalmann, et. Al.
Artificial Fish (U. Toronto)
Tu / Terzopoulos
OZ project (CMU)
Bates, et. Al.
Human Dynamics (GaTech)
Hodgkins, et. Al.
HFAP (Microsoft)
Cohen, et. Al.
ENDGAME (Stanford)
Koga, et. Al.
Jack (U Penn)
Badler, et. Al.
Digital Actor as Virtual Digital Actor as Virtual Robot!Robot!
Virtual Control Loop
Plan
Sense
Act
Synthetic Vision vs. Robot Vision
Vision module image
Actor camera image
Synthetic VisionSynthetic Vision
Distance detection Image segmentation Noisy data
Segment environment Render false-color scene
off-screen (e.g. 200x200) Scan pixels & record IDs
Computing Visibility via Hardware
Perception-Based Navigation
Fast 2DPath
PlannerPath
Path-Following Controller
Base PointPD Controller
MotionCapture Data
SyntheticVision
ModuleObstacles
Treadmill Method: Treadmill Method: Motion Planning + Motion Motion Planning + Motion
CaptureCapture
World
Hip
Base
v
p
W
Path TrackingPath Tracking
TRACKING DETAIL
Multiple CharactersMultiple Characters
• Following & pursuit behaviors• Maintaining formations
ManipulationManipulationReach
Grab
Transfer
Release
Return
Classes of MotionClasses of Motion
Final Fantasy : The Movie (SquareOne)
Primary (active) motion: gross body movements, facial animationSecondary (passive) motion: clothes, skin, hair, environmental effectsIndividual vs. crowd motion
Virtual Clothes (MIRALAB / Univ. of Geneva)
Cloth (Georgia Tech)