Passive Control Architecture for Virtual Humans

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dc.creatorRennuit, Antoine
dc.creatorMicaelli, Alain
dc.creatorMerlhiot, Xavier
dc.creatorAndriot, Claude
dc.creatorGuillaume, François
dc.creatorChevassus, Nicolas
dc.creatorChablat, Damien
dc.creatorChedmail, Patrick
dc.date2007-07-16
dc.date.accessioned2026-07-07T08:18:32Z
dc.date.available2026-07-07T08:18:32Z
dc.descriptionIn the present paper, we introduce a new control architecture aimed at driving virtual humans in interaction with virtual environments, by motion capture. It brings decoupling of functionalities, and also of stability thanks to passivity. We show projections can break passivity, and thus must be used carefully. Our control scheme enables task space and internal control, contact, and joint limits management. Thanks to passivity, it can be easily extended. Besides, we introduce a new tool as for manikin's control, which makes it able to build passive projections, so as to guide the virtual manikin when sharp movements are needed.
dc.identifierhttps://arxiv.org/abs/0707.2275
dc.identifierhttp://arxiv.org/abs/0707.2275
dc.identifierProceeding International Conference on Intelligent Robots ans Systems (08/2005) 1-6
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/134463
dc.subjectRobotics
dc.titlePassive Control Architecture for Virtual Humans
dc.typetext

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