caa a22 4500 605540888 CHVBK 20210128100913.0 cr unu---uuuuu 210128e20150601xx s 000 0 eng 10.1007/s00371-015-1103-1 doi (NATIONALLICENCE)springer-10.1007/s00371-015-1103-1 Adaptive locomotion on slopes and stairs using pelvic rotation [Elektronische Daten] [Taekgu Lee, Jinho Park, Taesoo Kwon] In this paper, we introduce a new online motion retargeting technique to generate natural locomotion of walking on slopes and stairs using only a single captured reference motion. An inverse-kinematics solver is developed to generate poses satisfying smooth trajectories of positional and rotational constraints for feet and hands. By considering the rotations of the pelvis and upper body, our technique is able to produce natural poses without knee-popping artifacts. Springer-Verlag Berlin Heidelberg, 2015 Computer animation nationallicence Inverse kinematics nationallicence Physics-based nationallicence Lee Taekgu Hanyang University, Seoul, Republic of Korea aut Park Jinho Soongsil University, Seoul, Republic of Korea aut Kwon Taesoo Hanyang University, Seoul, Republic of Korea aut The Visual Computer Springer Berlin Heidelberg 31/6-8(2015-06-01), 873-881 0178-2789 31:6-8<873 2015 31 371 https://doi.org/10.1007/s00371-015-1103-1 text/html Onlinezugriff via DOI BK010053 XK010053 XK010000 Metadata rights reserved Springer special CC-BY-NC licence nationallicence 1 research-article jats NATIONALLICENCE NATIONALLICENCE NL-springer NATIONALLICENCE 856 40 https://doi.org/10.1007/s00371-015-1103-1 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Lee Taekgu Hanyang University, Seoul, Republic of Korea aut NATIONALLICENCE 700 1- Park Jinho Soongsil University, Seoul, Republic of Korea aut NATIONALLICENCE 700 1- Kwon Taesoo Hanyang University, Seoul, Republic of Korea aut NATIONALLICENCE 773 0- The Visual Computer Springer Berlin Heidelberg 31/6-8(2015-06-01), 873-881 0178-2789 31:6-8<873 2015 31 371