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Related Experiment Video

Updated: Apr 4, 2026

Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb
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An Energy-Driven Motion Planning Method for Two Distant Postures.

He Wang, Edmond S L Ho, Taku Komura

    IEEE Transactions on Visualization and Computer Graphics
    |September 11, 2015
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    This summary is machine-generated.

    This study introduces a local motion planning algorithm for character animation, effectively solving complex movements between distant poses by avoiding penetrations. The method enhances realism and control in animation and robotics.

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    Area of Science:

    • Computer Graphics
    • Robotics
    • Animation

    Background:

    • Character animation often struggles with generating natural motion between distant poses.
    • Linear interpolation between keyframes can result in self-penetrations and unrealistic movements.
    • Existing global planning methods are computationally expensive for real-time applications.

    Purpose of the Study:

    • To develop a novel local motion planning algorithm for character animation.
    • To address the challenge of generating smooth, penetration-free motions between distant configurations.
    • To provide enhanced user control over the generated animations.

    Main Methods:

    • A two-stage framework is proposed, beginning with solving a Boundary Value Problem (BVP) on an energy graph.
    • The energy graph incorporates penetration avoidance, motion smoothness, and user-defined constraints.
    • A fast local motion planning algorithm solves the BVP, followed by projection onto a constraint manifold for refined control.

    Main Results:

    • The algorithm successfully generates complex motions between distant poses, previously requiring global planning.
    • Penetrations are avoided, leading to more realistic character movements.
    • The method offers robust and efficient local motion planning capabilities.

    Conclusions:

    • The proposed local motion planning algorithm offers a significant advancement for character animation and robotics.
    • It provides a computationally efficient alternative to global planning methods.
    • The framework is integrable with existing keyframing techniques, enhancing artistic control and animation quality.