Passive Control Architecture for Virtual Humans

TL;DR

This paper presents a passive control architecture for virtual humans that ensures stable interaction with environments, allowing for flexible task management and safe motion projection, with applications in virtual environment interactions.

Contribution

It introduces a novel passive control architecture that decouples functionalities and manages stability, including a new tool for passive projections to guide virtual manikins during sharp movements.

Findings

Control scheme enables task and internal control with stability

Projections can break passivity if not used carefully

New tool allows building passive projections for sharp movements

Abstract

In 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.