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http://dx.doi.org/10.15701/kcgs.2017.23.2.23

Avoiding Inter-Leg Collision for Data-Driven Control  

Lee, Yoonsang (Kwangwoon University)
Publication Information
Journal of the Korea Computer Graphics Society / v.23, no.2, 2017 , pp. 23-27 More about this Journal
Abstract
We propose an inter-leg collision avoidance method that compensates the disadvantage of the data-driven biped control method. The data-driven biped control technique proposed by Lee et. al [1] sometimes generates the movement that the two legs intersect with each other while walking, which can not be realized in walking of a real person or a biped robot. The proposed method changes the angle of the swing hip so that the swing foot can move inward only after passing the stance foot. This process introduces an additional angle adjustment algorithm to avoid collisions with the stance leg to the original feedback rule of the stance hip. It generates a stable walking simulation without any inter-leg collisions, by adding minimal changes and additional calculations to the existing controller behavior.
Keywords
Physically Based Character Animation; Biped Control; Locomotion Control; Data Driven Control; Inter-Leg Collision Avoidance; Inter-Leg Crossing Avoidance; Self-Collision Avoidance;
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