SciELO - Scientific Electronic Library Online

vol.19 issue3Integration of an Inverse Optimal Neural Controller with Reinforced-SLAM for Path Panning and Mapping in Dynamic EnvironmentsDesign and Implementation of an Intelligent System for Controlling a Robotic Hospital Bed for Patient Care Assistance author indexsubject indexsearch form
Home Pagealphabetic serial listing  

Services on Demand




Related links

  • Have no similar articlesSimilars in SciELO


Computación y Sistemas

Print version ISSN 1405-5546


BOYAIN Y GOYTIA LUNA, Cristian E.; MENDEZ VAZQUEZ, Andrés  and  RAMOS CORCHADO, Marco Antonio. Autonomous Motion Planning for Avatar Limbs. Comp. y Sist. [online]. 2015, vol.19, n.3, pp.457-466. ISSN 1405-5546.

In this work, a new algorithm for autonomous avatar motion is presented. The new algorithm is based in the Rapidly-exploring Random Tree (RRT) and an appropriate ontology. It uses a novel approach for calculating the motion sequence planning for the different avatar limbs: legs or arms. First, the algorithm uses the information stored in the ontology concerning the avatar structure and the Degrees Of Freedom (DOFs) to obtain the basic actions for motion planning. Second, this information is used to perform the growth process in the RRT algorithm. Then, all this information is used to produce planning. The plans are generated by a random search for possible motions that respect the structural restrictions of the avatar on kinesiology studies. To avoid a big configuration space search, exploration, exploitation, and hill climbing are used in order to obtain motion plans.

Keywords : Avatar; rapidly-exploring random tree; degree of freedom; ontology; kinesiology.

        · text in English     · English ( pdf )


Creative Commons License All the contents of this journal, except where otherwise noted, is licensed under a Creative Commons Attribution License