Motion planning framework for virtual human arm manipulation
一个虚拟人手臂操控的运动规划框架

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.