Passive Control Architecture for Virtual Humans

Antoine Rennuit (1) , Alain Micaelli (2) , Xavier Merlhiot (2) , Claude Andriot (2) , François Guillaume , Nicolas Chevassus , Damien Chablat (1) , Patrick Chedmail (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 LIST (CEA) - Laboratoire d'Intégration des Systèmes et des Technologies

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.

Mots clés: Virtual humans; Contact; Passive projections; Motion capture

Domaines: Robotique [cs.RO]

Antoine Rennuit, Alain Micaelli, Xavier Merlhiot, Claude Andriot, François Guillaume, et al.. Passive Control Architecture for Virtual Humans. Aug 2005, Edmonton, Canada. pp.1-6. ⟨hal-00162733⟩