MKM: Manageable Kinematic Motions
Participants : Richard Kulpa [ contact ] , Bruno Arnaldi, Nicolas Chaverou, Franck Multon, Yann Pinczon du Sel.
We have developed a framework for animating human-like figures in real-time, based on captured motions. This work was carried-out in collaboration with the M2S Laboratory (Mouvement, Sport, Santé) of the University Rennes 2.
In this software, we propose a morphology-independent representation of the motion that is based on a simplified skeleton which normalizes the global postural information. This formalism is not linked to morphology and allows very fast motion retargetting and adaptation to geometric constraints that can change in real-time. This approach dramatically reduces the post production time and allows the animators to handle a general motion library instead of one library per avatar.
The framework provides an animation library which uses the motions either obtained from our off-line tool (that tranforms standard formats into our morphology-independent representation) or parameterized models in order to create complete animation in real-time. Several models are proposed such as grasping, orientation of the head toward a target. We have also included a new locomotion model that allows to control the character directly using a motion database.
In order to create realistic and smooth animations, MKM uses motion synchronization, blending and adaptation to skeletons and to external constraints. All those processes are performed in real-time in an environment that can change at any time, unpredictably.
All these features have been used to anticipate and control the placement of footprints depending on high level parameters. This link between control and behavior levels will be used for reactive navigation in order to have realistic motion adaptations as well as to deal with constrained environments. This latter development is partially funded by the "Numerical Plant 2" project of the "system@tic" French competitiveness cluster (cf. paragraph 7.7 ).