| Abstract: | Despite the large success of games grounded on movement‐based interactions the current state of full‐body motion capture technologies still prevents the exploitation of precise interactions with complex environments. The first key requirement in the line of work we present here is to ensure a precise spatial correspondence between the user and the Avatar. For that purpose, we build upon our past effort in human postural control with a prioritized inverse kinematics (PIK) framework. One of its key advantages is to ease the dynamic‐ and priority‐based combination of multiple conflicting constraints such as ensuring the balance and reaching a goal. However, its reliance on a linearized approximation of the problem makes it vulnerable to the well‐known full extension singularity of the limbs. We address this issue by presenting a new type of 1D analytic constraint that smoothly integrates within the PIK framework under the name of FLEXT constraint (for FLexion‐EXTension constraint). We further ease the full‐body interaction by combining this new constraint with a recently introduced motion constraint to exploit the data‐based synergy of full‐body reach motions. The combination of both techniques allows immersive full‐body interactions with a small set of active optical marker. Copyright © 2010 John Wiley & Sons, Ltd. |
