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This paper presents a technique for adapting existing motion of a human-like character to have the desired features that are specified by a set of constraints. This problem can be typically formulated as a spacetime constraint problem. Our approach combines a hierarchical curve fitting technique with a new inverse kinematics solver. Using the kinematics solver, we can adjust the configuration of an articulated figure to meet the constraints in each frame. Through the fitting technique, the motion displacement of every joint at each constrained frame is interpolated and thus smoothly propagated to frames. We are able to adaptively add motion details to satisfy the constraints within a specified tolerance by adopting a multilevel B-spline representation which also provides a speedup for the interpolation. The performance of our system is further enhanced by the new inverse kinematics solver. We present a closed-form solution to compute the joint angles of a limb linkage. This analytical m...
Lee et al. (Fri,) studied this question.