Passive Control Architecture for Virtual Humans

Details Passive Control Architecture for Virtual Humans Passive Control Architecture for Virtual Humans

2007-07-16

arxiv.org/abs/0707.2275v1

Proceeding International Conference on Intelligent Robots ans Systems (08/2005) 1-6

Computer Science

Robotics

Scientific paper

In the present paper, we introduce a new control architecture aimed at driving virtual humans in interaction with virtual environments, by motion capture. It brings decoupling of functionalities, and also of stability thanks to passivity. We show projections can break passivity, and thus must be used carefully. Our control scheme enables task space and internal control, contact, and joint limits management. Thanks to passivity, it can be easily extended. Besides, we introduce a new tool as for manikin's control, which makes it able to build passive projections, so as to guide the virtual manikin when sharp movements are needed.

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