A Grasp-based Motion Planning Algorithm for Character Animation

  • Maciej Kalisiak
  • Michiel van de Panne
Conference paper
Part of the Eurographics book series (EUROGRAPH)


The design of autonomous characters capable of planning their own motions continues to be a challenge for computer animation. We present a novel kinematic motion planning algorithm for character animation which addresses some of the outstanding problems. The problem domain for our algorithm is as follows: given a constrained environment with designated handholds and footholds, plan a motion through the environment towards a desired goal. Our algorithm is based on a stochastic search procedure which is guided by a combination of geometric constraints, posture heuristics, and distance-to-goal measures. The method provides a single framework for the use of multiple modes of locomotion in planning motions through constrained, unstructured environments. We illustrate our results with demonstrations of a human character using walking, swinging, climbing, and crawling in order to navigate through complex environments.


Motion Planning Finite State Machine Motion Planner Unstructured Environment Locomotion Mode 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Wien 2000

Authors and Affiliations

  • Maciej Kalisiak
    • 1
  • Michiel van de Panne
    • 1
  1. 1.Department of Computer ScienceUniversity of TorontoUSA

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