An energy-driven motion planning method for two distant postures

He Wang*, Edmond S.L. Ho, Taku Komura

*Corresponding author for this work

Research output: Contribution to journalJournal articlepeer-review

10 Citations (Scopus)


In this paper, we present a local motion planning algorithm for character animation. We focus on motion planning between two distant postures where linear interpolation leads to penetrations. Our framework has two stages. The motion planning problem is first solved as a Boundary Value Problem (BVP) on an energy graph which encodes penetrations, motion smoothness and user control. Having established a mapping from the configuration space to the energy graph, a fast and robust local motion planning algorithm is introduced to solve the BVP to generate motions that could only previously be computed by global planning methods. In the second stage, a projection of the solution motion onto a constraint manifold is proposed for more user control. Our method can be integrated into current keyframing techniques. It also has potential applications in motion planning problems in robotics.

Original languageEnglish
Pages (from-to)18-30
Number of pages13
JournalIEEE Transactions on Visualization and Computer Graphics
Issue number1
Early online date3 Jun 2014
Publication statusPublished - 1 Jan 2015

Scopus Subject Areas

  • Software
  • Signal Processing
  • Computer Vision and Pattern Recognition
  • Computer Graphics and Computer-Aided Design

User-Defined Keywords

  • Character animation
  • motion planning


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