A METHOD FOR GENERATING ENVIRONMENT-ADAPTIVE MULTI-CONTACT POSES OF HUMANOID OBJECTS

摘要

The present invention relates to a method for generating a multi-contact posture of a humanoid object including a humanoid robot or a virtual human character for a given random thing or environment. The planning of postures and motions which a humanoid object takes as interacting with a thing or an environment requires a lot of calculation time and much efforts due to very high degree of freedom which a humanoid object has. To overcome such a challenge, the method of the present invention allows a user to generate multiple appropriate environment/thing-contact postures of a user according to locations and directions designated by a user and make a choice. The method of the present invention includes a preprocessing step and a real-time step, wherein in the preprocessing step, feature points are generated to generate postures and in the real-time step, feature points which can be applied to an inputted thing are screened to create final postures via inverse kinematics. Post-processing is so fast to proceed that instant multi-contact postures for an inputted thing can be generated.