A grasp-based motion planning algorithm for character animation

The design of autonomous characters capable of planning their own motions continues to be a challenge for computer animation. We present a novel kinematic motion planning algorithm for character animation which addresses some of the outstanding problems. The problem domain for our algorithm is as follows: given a constrained environment with designated handholds and footholds, plan a motion through the environment towards a desired goal. Our algorithm is based on a stochastic search procedure which is guided by a combination of geometric constraints, posture heuristics, and distance-to-goal measures. The method provides a single framework for the use of multiple modes of locomotion in planning motions through constrained, unstructured environments. We illustrate our results with demonstrations of a human character using walking, swinging, climbing, and crawling in order to navigate through complex environments.