從任意姿勢起身動作的產生

Abstract

我們提出了一個有效的方法可以產生從任意姿勢起身的動作。我們的方法由三個階段所組成：(1)從資料庫中選擇一個最適合的姿勢。(2)規劃出一段動作連接初始姿勢和該姿勢。(3)利用smoothing和dynamics filtering重新修改規劃出來的動作。我們測試了有障礙物以及沒有障礙物的情況，皆可以產生符合物理原理並從任意姿勢起身的動作。

We present an efficient standing-up motion generation approach that utilizes a motion planning algorithm to connect a given posture to a closest posture in a database of standing-up motions. Our approach is composed of three stages: First, selecting one of the most suitable posture from the database and initial posture connects to it; Second, planning a motion which can connect the initial posture and the selected end posture; Third, refining the planned motion by smoothing and dynamics filtering. Our experiments demonstrates that our algorithm can successfully generate physically-correct standing-up motion from arbitrary initial postures in environments without- and with-obstacles.