仮想人間のための受動制御アーキテクチャ
Passive Control Architecture for Virtual Humans
モーションキャプチャで仮想人間を操作するための受動性に基づく制御アーキテクチャを提案し、タスク空間制御や接触・関節限界の管理を可能にした。
著者: Antoine Rennuit, Alain Micaelli, Xavier Merlhiot, Claude Andriot, François Guillaume, Nicolas Chevassus, Damien Chablat, Patrick Chedmail
分類: cs.RO
原文アブストラクト
In the present paper, we introduce a new control architecture aimed at driving virtual humans in interaction with virtual environments, by motion capture. It brings decoupling of functionalities, and also of stability thanks to passivity. We show projections can break passivity, and thus must be used carefully. Our control scheme enables task space and internal control, contact, and joint limits management. Thanks to passivity, it can be easily extended. Besides, we introduce a new tool as for manikin's control, which makes it able to build passive projections, so as to guide the virtual manikin when sharp movements are needed.
