CS 326 A: Motion Planning

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)