关键词: 虚拟人, 操控规划, 快速扩展随机树, 启发式策略

Abstract: A motion planning framework for virtual human arm manipulation was proposed based on bidirectional heuristic Rapidly-exploring Random Tree (RRT). According to whether a manipulated object was hold by hand, the framework proceeded in two phases: a reaching phase and a moving phase. Forward as well as inverse kinematic algorithm was used in these two phases respectively in order to make planning result rapid and credible. The effectiveness of our method was demonstrated by experiments.

Key words: virtual human, manipulation planning, Rapidly-exploring Random Tree (RRT), heuristic strategy