A probabilistic approach to planning biped locomotion with prescibed motions

摘要

PURPOSE: A method for probabilistic approach for a movement motion plan by using motion capture data is provided to find footprint sequence of a final motion and its corresponding motion sequence to generate a final motion by re-targeting the motion sequence. CONSTITUTION: A method for probabilistic approach for a movement motion plan by using motion capture data includes the steps of composing a road map for guiding movement motion of an imaginary character by randomly extracting points for the character having two feet to safely step in an imaginary environment to find out a series of motions for the character to move from a starting point to a target point, converting and searching the road map with reference to a posture transition graph which shows connected relations between motions captured in advance for obtaining target footprints and the motion sequence from the starting point to the target point, and deforming the input motion sequence for precisely following a target footprint sequence for the landing points of the input motion sequence to generate a final movement motion.