## Using Haptic Vector Fields for Animation Motion Control (1999)

### Cached

### Download Links

- [www.cs.dartmouth.edu]
- [www.cs.dartmouth.edu]
- DBLP

### Other Repositories/Bibliography

Citations: | 20 - 0 self |

### BibTeX

@MISC{Donald99usinghaptic,

author = {Bruce Randall Donald and Frederick Henle},

title = {Using Haptic Vector Fields for Animation Motion Control},

year = {1999}

}

### Years of Citing Articles

### OpenURL

### Abstract

We are developing paradigms and algorithms for browsing and editing families of animations using a haptic forcefeedback device called a Phantom. These techniques may be generalized to navigation of any high degree-offreedom system from a lower degree-of-freedom control space, with applications to telerobotics and simulation of virtual humans. We believe that modeling the animation configuration space coupled with the highly interactive nature of the haptic device provides us with useful and intuitive means of control. We have implemented our ideas in a system for the manipulation of animation motion capture data; in particular, anthropomorphic figures with 57 degrees of freedom are controlled by the user in real time. We treat trajectories, which encode animation, as first-class objects; haptic manipulation of these trajectories results in change to the animation. We have several haptic editing modes in which these trajectories are either haptically deformed or performed by the user w...

### Citations

1988 |
Robot Motion Planning
- Latombe
- 1991
(Show Context)
Citation Context ... example. A configuration space D is established, such that a point in D represents one "frame" of the animation. 1 For example, in this paper, we take D to represent the set of possible joi=-=nt angles [13]-=- for an articulated figure. A haptic control map is established so that the Phantom's degrees of freedom control the animation. This is done by constructing a mapping h : C -# D where C is the haptic ... |

340 | Spatial Planning: A Configuration Space Approach - Lozano-Perez - 1983 |

301 |
Exact Robot Navigation Using Artificial Potential Functions
- Rimon, Koditschek
- 1992
(Show Context)
Citation Context ...play of complex virtual-reality environments. The control systems and abstractions in this work have been important in building our haptic system. Vector fields have been widely used in robot control =-=[11, 12, 17, 16, 3]-=-, and these mathematical foundations were influential in our system design. Nonholonomic control and NHVF's were developed in the context of control for non-linear geometric dynamics, and have a wide ... |

283 |
Retargetting Motion to New Characters
- Gleicher
(Show Context)
Citation Context ...[1, 13, 2, 9, 14]. There have been a number of elegant papers on processing motion data [5, 21] multi-target motion interpolation [18], real-time control of virtual humans [10], retargeting of motion =-=[7]-=-, motion transitions [19], and constraint-based motion adaptation [8]. Inspired by this work, we employ very simple forms of interpolation and motion processing in order to demonstrate the power of ha... |

264 | Verbs and adverbs: Multidimensional motion interpolation
- ROSE, COHEN, et al.
- 1998
(Show Context)
Citation Context ... non-linear geometric dynamics, and have a wide range of applications [1, 13, 2, 9, 14]. There have been a number of elegant papers on processing motion data [5, 21] multi-target motion interpolation =-=[18]-=-, real-time control of virtual humans [10], retargeting of motion [7], motion transitions [19], and constraint-based motion adaptation [8]. Inspired by this work, we employ very simple forms of interp... |

248 |
Motion signal processing
- BRUDERLIN, WILLIAMS
- 1995
(Show Context)
Citation Context ...see Fig. 2-L. We define a small tube of radius # about the image of #1 , and extend the vector field to this tube in the follow1 In practice, the time domain will be discretized or sampled. We follow =-=[5] in o-=-ur terminology for sampling: "An animation system should have a sampling rate that is decoupled from the nominal `frame rate' of the final product. We will speak of `frames' at the sample rate wi... |

220 | Automatic synthesis of fine-motion strategies for robots - Mason, Taylor - 1987 |

193 | Motion warping
- WITKIN, POPOVIC
- 1995
(Show Context)
Citation Context ...re developed in the context of control for non-linear geometric dynamics, and have a wide range of applications [1, 13, 2, 9, 14]. There have been a number of elegant papers on processing motion data =-=[5, 21]-=- multi-target motion interpolation [18], real-time control of virtual humans [10], retargeting of motion [7], motion transitions [19], and constraint-based motion adaptation [8]. Inspired by this work... |

179 |
J.F.: Sculpting: an interactive volumetric modeling technique
- Galyean
- 1991
(Show Context)
Citation Context ...anipulation. The encoding and editing of such systems as palpable vector fields appears to be novel. Previous research falls into a few broad categories. Fundamental work in haptics and forcefeedback =-=[15, 4, 6, 20]-=- has allowed devices such as the Phantom to be integrated with computer graphics. Most of this work is targeted for scientific visualization, or for the combined visualhaptic display of complex virtua... |

159 | The haptic display of complex graphical environments
- Ruspini, Kolarov, et al.
- 1997
(Show Context)
Citation Context ...anipulation. The encoding and editing of such systems as palpable vector fields appears to be novel. Previous research falls into a few broad categories. Fundamental work in haptics and forcefeedback =-=[15, 4, 6, 20]-=- has allowed devices such as the Phantom to be integrated with computer graphics. Most of this work is targeted for scientific visualization, or for the combined visualhaptic display of complex virtua... |

150 |
Nonholonomic multi-body mobile robots: Controllability and motion planning in the presence of obstacles
- Barraquand, Latombe
- 1993
(Show Context)
Citation Context ...al foundations were influential in our system design. Nonholonomic control and NHVF's were developed in the context of control for non-linear geometric dynamics, and have a wide range of applications =-=[1, 13, 2, 9, 14]-=-. There have been a number of elegant papers on processing motion data [5, 21] multi-target motion interpolation [18], real-time control of virtual humans [10], retargeting of motion [7], motion trans... |

143 | E cient generation of motion transitions using spacetime constraints
- Rose, Guenter, et al.
- 1996
(Show Context)
Citation Context ... have been a number of elegant papers on processing motion data [5, 21] multi-target motion interpolation [18], real-time control of virtual humans [10], retargeting of motion [7], motion transitions =-=[19]-=-, and constraint-based motion adaptation [8]. Inspired by this work, we employ very simple forms of interpolation and motion processing in order to demonstrate the power of haptic vector fields for an... |

122 | Social potential fields: a distributed behavioral control for autonomous robots
- Reif, Wang
- 1995
(Show Context)
Citation Context ...play of complex virtual-reality environments. The control systems and abstractions in this work have been important in building our haptic system. Vector fields have been widely used in robot control =-=[11, 12, 17, 16, 3]-=-, and these mathematical foundations were influential in our system design. Nonholonomic control and NHVF's were developed in the context of control for non-linear geometric dynamics, and have a wide ... |

108 |
Project GROPE - Haptic displays for scientific visualization
- Brooks, Ouh-Young, et al.
- 1990
(Show Context)
Citation Context ...anipulation. The encoding and editing of such systems as palpable vector fields appears to be novel. Previous research falls into a few broad categories. Fundamental work in haptics and forcefeedback =-=[15, 4, 6, 20]-=- has allowed devices such as the Phantom to be integrated with computer graphics. Most of this work is targeted for scientific visualization, or for the combined visualhaptic display of complex virtua... |

95 |
Robot navigation functions on manifolds with boundary
- Koditschek, Rimon
- 1990
(Show Context)
Citation Context ...play of complex virtual-reality environments. The control systems and abstractions in this work have been important in building our haptic system. Vector fields have been widely used in robot control =-=[11, 12, 17, 16, 3]-=-, and these mathematical foundations were influential in our system design. Nonholonomic control and NHVF's were developed in the context of control for non-linear geometric dynamics, and have a wide ... |

66 |
Feeling and seeing: issues in force display
- Minsky, Ouh-young, et al.
- 1990
(Show Context)
Citation Context |

42 | N.C.: Upper and lower bounds for programmable vector fields with applications to memd and vibratory plate parts feeders. Algorithms for Robotic Motion and Manipulation J.-P
- BĂ¶hringer, Donald, et al.
- 1997
(Show Context)
Citation Context |

38 | Constraint-based motion adaptation
- Gleicher, Litwinowicz
- 1998
(Show Context)
Citation Context ...essing motion data [5, 21] multi-target motion interpolation [18], real-time control of virtual humans [10], retargeting of motion [7], motion transitions [19], and constraint-based motion adaptation =-=[8]-=-. Inspired by this work, we employ very simple forms of interpolation and motion processing in order to demonstrate the power of haptic vector fields for animation motion control. We believe that in t... |

33 |
time obstacle avoidance for manipulators and mobile robots
- Real
- 1986
(Show Context)
Citation Context |

28 | Real-time animation of realistic virtual humans
- Thalmann, Kalra, et al.
(Show Context)
Citation Context ... wide range of applications [1, 13, 2, 9, 14]. There have been a number of elegant papers on processing motion data [5, 21] multi-target motion interpolation [18], real-time control of virtual humans =-=[10]-=-, retargeting of motion [7], motion transitions [19], and constraint-based motion adaptation [8]. Inspired by this work, we employ very simple forms of interpolation and motion processing in order to ... |

28 | Programmable vector fields for distributed manipulation, with applications to MEMS actuator arrays and vibratory parts feeders - BĂ¶hringer, Donald, et al. - 1999 |

7 |
Robot algorithms
- Latombe
- 1993
(Show Context)
Citation Context ...al foundations were influential in our system design. Nonholonomic control and NHVF's were developed in the context of control for non-linear geometric dynamics, and have a wide range of applications =-=[1, 13, 2, 9, 14]-=-. There have been a number of elegant papers on processing motion data [5, 21] multi-target motion interpolation [18], real-time control of virtual humans [10], retargeting of motion [7], motion trans... |

3 |
editors. The Algorithmic Foundations of Robotics: First Workshop
- Goldberg, C-Latombe, et al.
- 1995
(Show Context)
Citation Context ...al foundations were influential in our system design. Nonholonomic control and NHVF's were developed in the context of control for non-linear geometric dynamics, and have a wide range of applications =-=[1, 13, 2, 9, 14]-=-. There have been a number of elegant papers on processing motion data [5, 21] multi-target motion interpolation [18], real-time control of virtual humans [10], retargeting of motion [7], motion trans... |

1 |
Robotics, volume 41 of Symposia in Applied Mathematics
- Baillieul, Brockett
- 1990
(Show Context)
Citation Context ...rom the nominal `frame rate' of the final product. We will speak of `frames' at the sample rate without intending any loss of generality." 2 Here I represents time, parameterized to the unit inte=-=rval [0, 1]-=-. In general, of course, animations could take di#erent amounts of time. ing manner. The field will have a radial and a tangential component. The radial component Y1 will point towards the center of t... |