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Planification de mouvement interactive: coopération humain-machine pour la recherche de trajectoire et l'animation

David Flavigne 1
1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : This thesis presents a motion planning method that integrates a user input into the planning loop to find a path and animate a virtual character. After a general introduction, a general presentation of the motion planning problem is made and the most known algorithms are presented in the second chapter. Then, two works on which this chapter is based are presented in details. A new motion planning method designed for planning in human environments is described. Several tests and a study are made on different environments and show the advantages of the approach. The third chapter introduces a new interactive motion planning method that allows a human operator and an algorithm to cooperate in a single interaction loop. This method is based on a pseudo-force exchange between the user and the algorithm through a virtual scene using interactive devices such as a space mouse or a haptic arm. Several examples illustrate the approach and an automotive case is presented. A analysis shows the influence of several parameters on the performances. The fourth chapter presents an intuitive and interactive character animation method. Using a previous work based on motion capture interpolation for animation and the previous chapter algorithm, this method introduces interactivity to create animated trajectories for virtual characters that follows the user intentions. Some examples illustrate the method and show the advantages.
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Contributor : Arlette Evrard <>
Submitted on : Friday, November 26, 2010 - 10:51:59 AM
Last modification on : Thursday, June 10, 2021 - 3:07:12 AM
Long-term archiving on: : Friday, October 26, 2012 - 4:55:12 PM


  • HAL Id : tel-00538807, version 1


David Flavigne. Planification de mouvement interactive: coopération humain-machine pour la recherche de trajectoire et l'animation. Automatique / Robotique. Université Paul Sabatier - Toulouse III, 2010. Français. ⟨tel-00538807⟩



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