Humanoid

A Real-Time and Parallel System 
for the Simulation of Virtual Humans

 

Duration
May 1992 - May 1995

 

Objectives

Interactive human modelling
Motion control of the human body 
Keyframing, Inverse Kinematics, Dynamics
Facial animation
Deformation of the body in motion
Interaction of the human body with the virtual environment
Collision detection
Walking
Grasping


 

Results

Software:
All software is designed and implemented on Silicon Graphics Workstations and partially ported on transputer systems 

The Surface Modeller
The integrated system: TRACK
      Motion generation modules
      Skin deformation module
      Facial animation module 
      Collision handling module 

Quicktime-Movies concerning Collision Detection

click to get video Walking characters colliding

Quicktime Movie (8.1 MB)

click to get video Line of colling characters 

Quicktime Movie (3.6 MB)

click to get video Self-colliding character

Quicktime Movie (1.3 MB)

click to get video Hand-Arm-Collision

Quicktime Movie (1.3 MB) 

All animations are recorded realtime with TRACK on a Indigo² Extreme.
Areas rendered in red give visual feedback about intersecting surfaces.
The length of the green vectors shown in the animation indicate the penetration depth of vertices.
The direction of the green vectors indicate in which direction to move in order to resolve or avoid the collision.
This information is used by the Motion Control System to avoid penetrations or semi-automatically correct the motions after detecting self-collisions oder inter-object-collisions.

K. Saar, University of Karlsruhe, IBDS, saar∂ira.uka.de