Humanoid robot orientation stabilization by shoulder joint motion during locomotion

Arm swing action is a natural phenomenon that emerges in biped locomotion. A shoulder torque reference generation method is introduced in this paper to utilize arms of a humanoid robot during locomotion. Main idea of the technique is the employment of shoulder joint actuation torques in order to stabilize body orientation. The reference torques are computed by a method which utilizes proportional and derivative actions. Body orientation angles serve as the inputs of this system. The approach is tested via simulations with the 3D full-dynamics model of the humanoid robot SURALP (Sabanci University Robotics Research Laboratory Platform). Results indicate that the method is successful in reducing oscillations of body angles during bipedal walking

HCI for the deaf community: developing human-like avatars for sign language synthesis

With ever increasing computing power and advances in 3D animation technologies it is no surprise that 3D avatars for sign language (SL) generation are advancing too. Traditionally these avatars have been driven by somewhat expensive and inflexible motion capture technologies and perhaps this is the reason avatars do not feature in all but a few user interfaces (UIs). SL synthesis is a competing technology that is less costly, more versatile and may prove to be the answer to the current lack of access for the Deaf in HCI. This paper outlines the current state of the art in SL synthesis for HCI and how we propose to advance this by improving avatar quality and realism with a view to ameliorating communication and computer interaction for the Deaf community as part of a wider localisation project

Feeling crowded yet?: Crowd simulations for VR

With advances in virtual reality technology and its multiple applications, the need for believable, immersive virtual environments is increasing. Even though current computer graphics methods allow us to develop highly realistic virtual worlds, the main element failing to enhance presence is autonomous groups of human inhabitants. A great number of crowd simulation techniques have emerged in the last decade, but critical details in the crowd's movements and appearance do not meet the standards necessary to convince VR participants that they are present in a real crowd. In this paper, we review recent advances in the creation of immersive virtual crowds and discuss areas that require further work to turn these simulations into more fully immersive and believable experiences.Peer ReviewedPostprint (author's final draft

Splicing of concurrent upper-body motion spaces with locomotion

In this paper, we present a motion splicing technique for generating concurrent upper-body actions occurring simultaneously with the evolution of a lower-body locomotion sequence. Specifically, we show that a layered interpolation motion model generates upper-body poses while assigning different actions to each upper-body part. Hence, in the proposed motion splicing approach, it is possible to increase the number of generated motions as well as the number of desired actions that can be performed by virtual characters. Additionally, we propose an iterative motion blending solution, inverse pseudo-blending, to maintain a smooth and natural interaction between the virtual character and the virtual environment; inverse pseudo-blending is a constraint-based motion editing technique that blends the motions enclosed in a tetrahedron by minimising the distances between the end-effector positions of the actual and blended motions. Additionally, to evaluate the proposed solution, we implemented an example-based application for interactive motion splicing based on specified constraints. Finally, the generated results show that the proposed solution can be beneficially applied to interactive applications where concurrent actions of the upper-body are desired

Exploring the Use of Virtual Worlds as a Scientific Research Platform: The Meta-Institute for Computational Astrophysics (MICA)

We describe the Meta-Institute for Computational Astrophysics (MICA), the first professional scientific organization based exclusively in virtual worlds (VWs). The goals of MICA are to explore the utility of the emerging VR and VWs technologies for scientific and scholarly work in general, and to facilitate and accelerate their adoption by the scientific research community. MICA itself is an experiment in academic and scientific practices enabled by the immersive VR technologies. We describe the current and planned activities and research directions of MICA, and offer some thoughts as to what the future developments in this arena may be.Comment: 15 pages, to appear in the refereed proceedings of "Facets of Virtual Environments" (FaVE 2009), eds. F. Lehmann-Grube, J. Sablating, et al., ICST Lecture Notes Ser., Berlin: Springer Verlag (2009); version with full resolution color figures is available at http://www.mica-vw.org/wiki/index.php/Publication

Presenting in Virtual Worlds: An Architecture for a 3D Anthropomorphic Presenter

Multiparty-interaction technology is changing entertainment, education, and training. Deployed examples of such technology include embodied agents and robots that act as a museum guide, a news presenter, a teacher, a receptionist, or someone trying to sell you insurance, homes, or tickets. In all these cases, the embodied agent needs to explain and describe. This article describes the design of a 3D virtual presenter that uses different output channels (including speech and animation of posture, pointing, and involuntary movements) to present and explain. The behavior is scripted and synchronized with a 2D display containing associated text and regions (slides, drawings, and paintings) at which the presenter can point. This article is part of a special issue on interactive entertainment