政大機構典藏-National Chengchi University Institutional Repository(NCCUR):Item 140.119/32633

政大機構典藏-National Chengchi University Institutional Repository(NCCUR):Item 140.119/32633

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题名:	自動產生具多樣化運動的虛擬人物動畫 Generating Humanoid Animation with Versatile Motions in a Virtual Environment
作者:	黃培智 Huang,Pei-Zhi
贡献者:	李蔡彥 Li,Tsai-Yen 黃培智 Huang,Pei-Zhi
关键词:	Motion Planning Humanoid Animation
日期:	2003
上传时间:	2009-09-17 13:53:56 (UTC+8)
摘要:	Research on global path planning and navigation strategies for mobile robots has been well studied in the robotics literature. Since the problem can usually be modeled as searching for a collision-free path in a 2D workspace, very efficient and complete algorithms can be employed. However, enabling a humanoid robot to move autonomously in a real-life environment remains a challenging problem. Unlike traditional wheeled robots, legged robots such as humanoid robots have advanced abilities of stepping over an object or striding over a deep gap with versatile locomotions. In this thesis, we propose a motion planning system capable of generating both global and local motions for a humanoid robot in layered environment cluttered with obstacles and deep narrow gaps. The planner can generate a gross motion that takes multiple locomotions, humanoid’s geometric properties and striding ability into consideration. A gross motion plan that satisfies the constraints is generated and further realized by a local planner, which determines the most efficient footsteps and locomotion over uneven terrain. If the local planner fails, the failure is fed back to the global planner to consider other alternative paths. The experiments show that our system can efficiently generate humanoid motions to reach the goal in a real-life environment. The system can also apply to a real humanoid robot to provide a high-level control mechanism.
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Raghavan, “A Random Sampling Scheme for Path Planning,” Intl. J. of Robotics Research, 16(6), pp.759-774, Dec. 1997. [9] J. Chestnutt, J. Kuﬀner, K. Nishiwaki, and S. Kagami, “Planning Biped Navigation Strategies in Complex Environments,” Proc. of IEEE Intl. Conf. on Humanoid Robotics, 2003. [10] J.H. Reif, “Complexity of the Mover`s Problem and Generalizations,” Proc. of the 20th IEEE Symp. on Foundations of Computer Science, pp. 421-427, 1979. [11] J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue, “Motion Planning for Humanoid Robots under Obstacle and Dynamic Balance Constraints,” Proc. of IEEE Intl. Conf. on Robotics and Automation, May 2001. [12] J. Kuffner, “Goal-Directed Navigation for Animated Characters Using Real-time Path Planning and Control” Proc. of CAPTECH’98 Workshop on Modeling and Motion capture Techniques for Virtual Environments, Springer-Verlag, 1998. [13] J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue, “Footstep Planning Among Obstacles for Biped Robots,” Proc. of 2001 IEEE Intl. Conf. on Intelligent Robots and Systems (IROS 2001), 2001. [14] J. Latombe, Robot Motion Planning, Kluwer, Boston, MA, 1991. [15] J. Pettre, J.-P. Laumond, and T. Simeon, “A 2-Stages Locomotion Planner for Digital Actors,” Proc. of Eurographics/SIGGRAPH Symposium on Computer Animation, 2003. [16] K. Yamane and Y. Nakamura, “Dynamics Filter – Concept and Implementation of On-Line Motion Generator for Human Figures,” Proc. of IEEE Intl. Conf. on Robotics and Automation, pp.688-695, April 2000. [17] L. Kavraki, P.Svestka, J. Latombe, and M. Overmars, “Probabilistic Roadmaps for Fast Path Planning in High-Dimensional Configuration Spaces,” IEEE Trans. on Robotics and Automation, 12:566-580, 1996. [18] M. Kalisiak and M. Panne, “A grasp-based motion planning algorithm for character animation,” J. of Visualization and computer animation, pp.117-129, 2001. [19] M.G. Choi, J. Lee, S.Y. Shin, “Planning Biped Locomotion using Motion Capture Data and Probabilistic Roadmaps,” ACM Transactions on Graphics, Vol. V, pp.1–25, October 2002. [20] N.M. Amato, O.B. Bayazit, L.K. Dale, C. Jones, and D. Vallejo, “OBPRM: An Obstacle-Based PRM for 3D Workspaces,” Robotics: The Algorithmic Perspective, pp.630-637, 1998. [21] N. Pollard, J. Hodgins, M. Riley, and C. Atkeson, “Adapting Human Motion for the Control of a Humanoid Robot,” Proc. of 2002 IEEE Intl. Conf. on Robotics and Automation, pp.2265-2270, May 2002. [22] P.F. Chen, and T.Y. Li, “Planning Efficient Walking Gaits in Real-Time for Human Characters,” Proc. of 2003 Computer Graphics Workshop, Taiwan, 2003. [23] Q. Huang, K. Kaneko, K. Yokoi, S. Kajita, K. Kotoku, N. Koyachi, H. Arai, N. Imamuna, K. Komoriya, K. Tanie, “Balance Control of a Biped Robot Combining Off-line Pattern with Real-time Modification,” Proc. of IEEE Intl. Conf. on Robotics and Automation, pp.3346-3352, April 2000. [24] R. A. Brooks and T. Lozano-Perez, “A subdivision Algoritm in Computer Space for Find-Path with Rotation,” IEEE Trans. on System. Man, and Cybernetics, vol. 15, pp.224-244, 1985. [25] R.C. Gonzale and R.E. Woods, Digital Image Processing Second Edition, Prentice Hall, 2002. [26] S. M. LaValle, “Rapidly-Exploring Random Trees: A New Tool for Path Planning,” Technical Report No. 98-11, Iowa State University, 1998. [27] S.Y. Shin and T. Kunii, “Pseudo Dynamic Keyframe Animation with Motion Blending on the Configuration Space of a Moving Mechanism,” Proc. of Pacific Graphics, August 1995. [28] T.-Y. Li, J.M. Lien, S.Y. Chiu, and T.H. Yu, “Automatically Generating Virtual Guided Tours,” in Proc. of the Computer Animation `99 Conf., pp.99-106, May 1999. [29] T.-Y. Li, and H.-K Ting., “An Intelligent User Interface with Motion Planning for 3D Navigation,” Proc. of the IEEE Virtual Reality 2000 Conf., March 2000. [30] T.Y. Li, M.Y. Liao, and J.F. Liao, “An Extensible Scripting Language for Interactive Animation in a Speech-Enabled Virtual Environment,” Proc. of the IEEE Intl. Conf. on Multimedia and Expo (ICME2004), Taipei, Taiwan, 2004. [31] T.Y. Li, P.F. Chen, and P.Z. Huang, “Motion Planning for Humanoid Walking in a Layered Environment,” in Proc. of the 2003 Int. Conf. on Robotics and Automation, 2003. [32] T.Y. Li and P.Z. Huang, “Motion Planning for a Humanoid Walking in a 3D Space,” Proc. of the 2001 National Computer Symposium, Taipei, Taiwan, 2001. [33] Y.K. Hwang and N. Ahuja, “Gross Motion Planning – a Survey,” ACM Comp. Surveys, 24(3):219-291, 1992. [34] Z. Shiller, K. Yamane, and Y. Nakamura, “Planning Motion Patterns of Human Figures Using a Multi-Layered Grid and the Dynamics Filter” Proc. of IEEE Intl. Conf. on Robotics and Automation, pp.1-8, May 2001.
描述:	碩士國立政治大學資訊科學學系 91753002 92
資料來源:	http://thesis.lib.nccu.edu.tw/record/#G0091753002
数据类型:	thesis
显示于类别:	[資訊科學系] 學位論文

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