Motion Transition with Balance Control
结合平衡控制的动作过渡算法

Reusing Motion Capture data to instruct Virtual Human is an effective way to improve the reality of Human Animation. However, there are gaps between captured motion clips, and motion transition.is used to fill them. This paper presents novel method to meet the kinematic and dynamic constraints that should be satisfied during transition. An analytical IK algorithm is adopted to solve the position constraints and an additional constraint, "Swivel angle" constraint, is added to guarantee the continuity of solution. Since the algorithm only need to search the feasible rangle of "Swivel angle", it improves the precision of the solution and the computation efficiency. This paper also presents a simplified way to simulate balancing during transiton.To meet the balancing requirement during the motion transition, balance pose is computed at "key points" of transition with a BFGS nonlinear constraint optimizing algorithm, displacement mapping is then built and added to original transition motion sequence.