Topple-free foot strategy applied to real-time motion capture data using kinect sensor

ABSTRACTThe hardware evolution has promoted unique possibilities of interaction in virtual environments, attracting much research in the most diverse fields, especially in games. In this work, we explore the animation data captured by Microsoft Kinect in real-time for developing user interaction in a simulated virtual environment. We use physically-based characters with proportional-derivative (PD) controllers to track the user's reference joints and a virtual actuator (VA) control for balance, using internal torques. We apply a simple contact strategy called topple-free foot (TFF) strategy, which provides excellent character stability by artificially compensating torques at the standing feet. Further, we present different support change policies based on three elements: the feet' positions from Kinect data, the character's support configuration during the simulation, and a virtual step strategy inspired by SIMBICON (Simple Biped Locomotion Control). The results show the controller's ability to provide interactivity in real-time without optimizing or inverse dynamics procedures.