A Unified Approach to Planning Versatile Motions for an Autonomous  Digital Actor

Yueh-Tse Li; Tsai-Yen Li

doi:10.20965/jaciii.2008.p0277

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JACIII Vol.12 No.3 pp. 277-283

doi: 10.20965/jaciii.2008.p0277

(2008)

Paper:

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A Unified Approach to Planning Versatile Motions for an Autonomous Digital Actor

Yueh-Tse Li and Tsai-Yen Li

Computer Science Department, National Chengchi University, 64, Sec. 2, Zhi-Nan Rd. Taipei, Taiwan 116

Received:

April 17, 2007

Accepted:

September 22, 2007

Published:

May 20, 2008

Keywords:

unified planning, motion planning, autonomous digital actor, leaping and pushing motions

Abstract

Enabling a digital actor to move autonomously in a virtual environment is a challenging problem that has attracted much attention in recent years. The systems proposed in several researches have been able to plan the walking motions of a humanoid on an uneven terrain. In this paper, we aim to design a planning system that can generate various types of motions for a humanoid with a unified planning approach. Based on our previous work, we add two additional motion abilities: leaping and moving obstacles into the system. In previous work, the order of moving obstacles is determined first, and then the corresponding paths for the pushing/pulling motions are generated. In this work, we take a unified approach that accounts for all types of motions at the same time. We have implemented a planning system with this unified approach for a humanoid moving in a layered virtual environment. Several simulation examples are demonstrated in this paper to illustrate the effectiveness of the system.

Cite this article as:

Y. Li and T. Li, “A Unified Approach to Planning Versatile Motions for an Autonomous Digital Actor,” J. Adv. Comput. Intell. Intell. Inform., Vol.12 No.3, pp. 277-283, 2008.

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References

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[2] Z. Shiller, K. Yamane, and Y. Nakamura, “Planning Motion Patterns of Human Figures Using a Multi-Layered Grid and the Dynamics Filter,” Proc. of 2001 IEEE Int. Conf. on Robotics and Automation, pp. 1-8, 2001.
[3] T. Y. Li and P. Z. Huang, “Planning Humanoid Motions with Striding Ability in a Virtual Environment,” Proc. of the 2004 IEEE Int. Conf. on Robotics & Automation, pp. 3195-3200, 2004.
[4] E. D. Demaine, M. L. Demaine, and J. O’Rourke, “PushPush and Push-1 are NP-hard in 2D,” Proc. of the 12th Annual Canadian Conf. on Computational Geometry, pp. 211-219, 2000.
[5] M. Stilman and J. Kuffner, “Navigation Among Movable Obstacles: Real-time Reasoning in Complex Environments,” Proc. IEEE Int. Conf. on Humanoid Robotics (Humanoids’04), 2004.
[6] J. Schwartz and M. Sharir, “On the ‘piano movers’ problem II, General techniques for computing topological properties of real algebraic manifolds,” Advances in Applied Mathematics, 4, pp. 298-351, 1983.
[7] J. Latombe, “Robot Motion Planning,” Kluwer Academic Publishers, 1991.
[8] J. Barraquand, L. Kavraki, J. C. Latombe T. Y. Li, and P. Raghavan, “A Random Sampling Scheme for Path Planning,” Int. J. of Robotics Research, 16-6, pp. 759-774, 1997.
[9] T. Y. Li, P. F. Chen, and P. Z. Huang, “Motion Planning for Humanoid Walking in a Layered Environment,” Proc. of the 2003 Int. Conf. on Robotics and Automation, 2003.
[10] P. C. Chen and Y. K. Hwang, “Practical path planning among movable obstacles,” Proc. of IEEE Int. Conf. on Robotic Automation, pp. 444-449, 1991.
[11] G. Wilfong, “Motion Planning in the Presence of Movable Obstacles,” Proc. of ACM Symp. Computational Geometry, pp. 279-288, 1988.
[12] K. M. Lynch and M. T. Mason, “Stable pushing: Mechanics, controllability, and planning,” Int. Journal of Robotics Research, 15-6, pp. 533-556, 1996.
[13] R. C. Gonzale and R. E. Woods, “Digital Image Processing,” Second Edition, Prentice Hall, pp. 224-244, 1985.
[14] M. de Berg, M. van Kreveld, M. Overmars, and O. Schwarzkopf, “Computational Geometry: Algorithms and Applications,” Second Edition, Chapter 7: Voronoi Diagrams, 2000.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] 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.

[2] [2] Z. Shiller, K. Yamane, and Y. Nakamura, “Planning Motion Patterns of Human Figures Using a Multi-Layered Grid and the Dynamics Filter,” Proc. of 2001 IEEE Int. Conf. on Robotics and Automation, pp. 1-8, 2001.

[3] [3] T. Y. Li and P. Z. Huang, “Planning Humanoid Motions with Striding Ability in a Virtual Environment,” Proc. of the 2004 IEEE Int. Conf. on Robotics & Automation, pp. 3195-3200, 2004.

[4] [4] E. D. Demaine, M. L. Demaine, and J. O’Rourke, “PushPush and Push-1 are NP-hard in 2D,” Proc. of the 12th Annual Canadian Conf. on Computational Geometry, pp. 211-219, 2000.

[5] [5] M. Stilman and J. Kuffner, “Navigation Among Movable Obstacles: Real-time Reasoning in Complex Environments,” Proc. IEEE Int. Conf. on Humanoid Robotics (Humanoids’04), 2004.

[6] [6] J. Schwartz and M. Sharir, “On the ‘piano movers’ problem II, General techniques for computing topological properties of real algebraic manifolds,” Advances in Applied Mathematics, 4, pp. 298-351, 1983.

[7] [7] J. Latombe, “Robot Motion Planning,” Kluwer Academic Publishers, 1991.

[8] [8] J. Barraquand, L. Kavraki, J. C. Latombe T. Y. Li, and P. Raghavan, “A Random Sampling Scheme for Path Planning,” Int. J. of Robotics Research, 16-6, pp. 759-774, 1997.

[9] [9] T. Y. Li, P. F. Chen, and P. Z. Huang, “Motion Planning for Humanoid Walking in a Layered Environment,” Proc. of the 2003 Int. Conf. on Robotics and Automation, 2003.

[10] [10] P. C. Chen and Y. K. Hwang, “Practical path planning among movable obstacles,” Proc. of IEEE Int. Conf. on Robotic Automation, pp. 444-449, 1991.

[11] [11] G. Wilfong, “Motion Planning in the Presence of Movable Obstacles,” Proc. of ACM Symp. Computational Geometry, pp. 279-288, 1988.

[12] [12] K. M. Lynch and M. T. Mason, “Stable pushing: Mechanics, controllability, and planning,” Int. Journal of Robotics Research, 15-6, pp. 533-556, 1996.

[13] [13] R. C. Gonzale and R. E. Woods, “Digital Image Processing,” Second Edition, Prentice Hall, pp. 224-244, 1985.

[14] [14] M. de Berg, M. van Kreveld, M. Overmars, and O. Schwarzkopf, “Computational Geometry: Algorithms and Applications,” Second Edition, Chapter 7: Voronoi Diagrams, 2000.