COMPLEX CHARACTER POSITIONING BASED ON A COMPATIBLE FLOW MODEL OF MULTIPLE SUPPORTS

We present a new posture design paradigm for the positioning of comple x characters. It is illustrated here on human figures. We exploit the Inverse Kinetics technique which allows the center of mass position co ntrol for postures with either single or multiple supports. For the mu ltiple support case, we introduce a Compatible Flow model of the suppo rting influence. With this approach, we are able to handle continuous modification of the support distribution. By construction, Inverse Kin etics presents the same control architecture as Inverse Kinematics, an d, thus, ii shows equivalent computing cost and similar intuitive conc epts. Furthermore, Inverse Kinetics for the center of mass and Inverse Kinematics for fixed end effecters can be combined to generate a post ure displaying static balance, goal-oriented features, and an addition al gravity optimization.