Planning Motions in Motion

Editing recorded motions to make them suitable for different sets of environmental constraints is a general and difficult open problem. In this paper we solve a significant part of this problem by modifying full-body motions with an interactive randomized motion planner. Our method is able to plan motions for specified linkages of an an- imated character in synchrony with the full-body motions affecting the same character and at the same time avoid collisions with dynamic obstacles. We demonstrate the effectiveness of our method with two important applica- tions: (a) motion correction (to remove collisions) and (b) synthesis of realistic object manipulation sequences on top of locomotion.