Résumé: This paper addresses the important issue of automating grasping movement in the animation of virtual actors, and presents a methodology and algorithm to generate realistic looking grasping motion of arbitrary shaped objects. A hybrid approach using both forward and inverse kinematics is proposed. A database of predefined body postures and hand trajectories are generalized to adapt to a specific grasp. The reachable space is divided into small subvolumes, which enables the construction of the database. The paper also addresses some common problems of articulated figure animation. A new approach for body positioning with kinematic constraints on both hands is described. An e¦cient and accurate manipulation of joint constraints is also presented. Finally, we describe an interpolation algorithm which interpolates between two postures of an articulated figure by moving the end e¤ector along a specific trajectory and maintaining all the joint angles in the feasible range. Results are quite satisfactory, and some are shown in the paper.

Langue: Anglais