Simulation of Human Avatars in Virtual-Reality

Abstract

The development of intelligent, autonomous robotic systems requires a twofold approach. On the one hand, capabilities of robots have to be enhanced that they can act and react more autonomously, but on the other hand, the development of a suitable man-machine interface has to be pushed further to be able to control the system. Experiences in controlling a multi-robot-system which is capable of performing different experiment handling and service tasks in a space laboratory environment showed that the realization of a man-machine interface based on advanced virtual reality (VR) techniques is a promising approach for a new command and supervision interface that is intuitively operable. The general aim of the development is to provide the framework for "Projective Virtual Reality" which allows the projection of actions that are carried out by users in the virtual world into the real world with the help of robots. This framework is described in greater detail in a companion paper, whereas this paper concentrates on the exact kinematic and dynamic simulation and animation of human-shaped avatars which act in the virtual environment as representations of users working in the virtual world. The avatars can walk forward, backward and can turn; they can handle tools with their hands, and they can even stoop to pick something up from the floor.