Topology-based Motion Analysis and Synthesis


Despite the huge amount of researches that has been done in the field of robotics and computer animation, synthesizing motions that involve close contacts is still a challenging task. Previous researches suffer from a huge amount of computation for collision avoidance as path-planning is done at the level of generalized coordinates or Cartesian coordinates, which are the lowest level of state representation.

In this project, we efficiently plan such complex motions by introducing the idea of topology coordinates [Ho and Komura EG2009] which takes into account the topological relationships of the segments. In topology coordinates, writhe, which represents how much the segments twist around each other, is the main attribute of the state space. This is inspired by tangle in knot theory as in our pilot study [Ho and Komura PG2007, Ho and Komura Humanoid2007]. We can easily avoid collisions of segments by simply moving the segments along the axis of writhes in topology coordinates.

Such an approach can be used for synthesizing character-object interactions [Ho and Komura EG2009], character-character close interactions such as wrestling [Ho and Komura MIG2009, Ho and Komura CAVW2011] controlling humanoid robots [Ho et al. IROS2013] and motion retrieval [Ho and Komura IEEE TVCG2009]. The topology-based representation can further be used for constructing a collision-free human motion space for solving Inverse Kinematics (IK) efficiently [Ho et al. PG2013].

Readers are also referred to a closely related project on modelling two-person and human-object close interactions.

  1. Edmond S. L. Ho, Hubert P. H. Shum, Yiu-ming Cheung, P. C. Yuen, "Topology Aware Data-Driven Inverse Kinematics"journal , Computer Graphics Forum (Proceedings of Pacific Graphics 2013), vol 32(7), Oct 2013. PDF video bibtex
  2. Edmond S. L. Ho and Taku Komura, "A Finite State Machine based on Topology Coordinates for Wrestling Games"journal , Computer Animation and Virtual Worlds, vol 22(5), pages 435–443, Oct 2011. PDF bibtex
  3. Edmond S. L. Ho, "Topology-based character motion synthesis"thesis , PhD Thesis, University of Edinburgh, June 2011. PDF bibtex
  4. Edmond S. L. Ho, Taku Komura, Subramanian Ramamoorthy, Sethu Vijayakumar, "Controlling Humanoid Robots in Topology Coordinates"conference , Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2010. PDF bibtex
  5. Edmond S. L. Ho and Taku Komura, "Real-time Character Control for Wrestling Games"conference , Springer Lecture Notes in Computer Science (Motion in Games 2009), LNCS 5884, Nov 2009. PDF bibtex
  6. Edmond S. L. Ho and Taku Komura, "Indexing and Retrieving Motions of Characters in Close Contact"journal , IEEE Transactions on Visualization and Computer Graphics, vol 15(3), May/June 2009. PDF video bibtex
  7. Edmond S. L. Ho and Taku Komura, "Character Motion Synthesis by Topology Coordinates"journal , Computer Graphics Forum (Proceedings of Eurographics 2009), vol 28(2), Mar 2009. PDF video bibtex
  8. Edmond S. L. Ho and Taku Komura, "Planning tangling motions for humanoids"conference , Proceedings of the IEEE-RAS International Conference on Humanoid Robots, Nov 2007. PDF
  9. Edmond S. L. Ho and Taku Komura, "Wrestle alone: Creating tangled motions of multiple avatars from individually captured motions"conference , Proceedings of Pacific Graphics 2007, Oct 2007. PDF video bibtex

The Team

Dr. Edmond S. L. Ho

Senior Lecturer, Northumbria University

Prof. Taku Komura

Professor, University of Hong Kong

Dr. Hubert P. H. Shum

Associate Professor, Durham University