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http://dx.doi.org/10.15701/kcgs.2017.23.3.1

Interactive Motion Retargeting for Humanoid in Constrained Environment  

Nam, Ha Jong (Dept. of Media Technology and Media Contents, The Catholic University of Korea)
Lee, Ji Hye (Dept. of Media Technology and Media Contents, The Catholic University of Korea)
Choi, Myung Geol (Dept. of Media Technology and Media Contents, The Catholic University of Korea)
Publication Information
Journal of the Korea Computer Graphics Society / v.23, no.3, 2017 , pp. 1-8 More about this Journal
Abstract
In this paper, we introduce a technique to retarget human motion data to the humanoid body in a constrained environment. We assume that the given motion data includes detailed interactions such as holding the object by hand or avoiding obstacles. In addition, we assume that the humanoid joint structure is different from the human joint structure, and the shape of the surrounding environment is different from that at the time of the original motion. Under such a condition, it is also difficult to preserve the context of the interaction shown in the original motion data, if the retargeting technique that considers only the change of the body shape. Our approach is to separate the problem into two smaller problems and solve them independently. One is to retarget motion data to a new skeleton, and the other is to preserve the context of interactions. We first retarget the given human motion data to the target humanoid body ignoring the interaction with the environment. Then, we precisely deform the shape of the environmental model to match with the humanoid motion so that the original interaction is reproduced. Finally, we set spatial constraints between the humanoid body and the environmental model, and restore the environmental model to the original shape. To demonstrate the usefulness of our method, we conducted an experiment by using the Boston Dynamic's Atlas robot. We expected that out method can help the humanoid motion tracking problem in the future.
Keywords
Computer Animation; Motion Adaptation; Motion Retargeting; Humanoid; Motion Editing;
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