Marcelo Kallmann

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Researchers demand much from their embodied conversational agents (ECAs), requiring them to be both life-like, as well as responsive to events in an interactive setting. We find that a flexible combination of animation approaches may be needed to satisfy these needs. In this paper we present SmartBody, an open source modular framework for animating ECAs in(More)
We present new techniques that use motion planning algorithms based on probabilistic roadmaps to control 22 degrees of freedom (DOFs) of human-like characters in interactive applications. Our main purpose is the automatic synthesis of collision-free reaching motions for both arms, with automatic column control and leg flexion. Generated motions are(More)
This paper presents a new approach to model general interactions between virtual human agents and objects in virtual worlds. The proposed framework is designed to deal with many of the possible interactions that may arise while simulating a virtual human performing common tasks in a virtual environment. The idea is to include within the object description,(More)
We evaluate the use of dynamic roadmaps for online motion planning in changing environments. When changes are detected in the workspace, the validity state of affected edges and nodes of a precompiled roadmap are updated accordingly. We concentrate in this paper on analyzing the tradeoffs between maintaining dynamic roadmaps and applying an on-line(More)
This paper addresses the problem of efficiently computing optimal paths of arbitrary clearance from a polygonal representation of a given virtual environment. Key to the proposed method is a new type of triangulated navigation mesh, called a Local Clearance Triangulation, which enables the efficient and correct determination if a disc of arbitrary size can(More)
Performing 3D interactions with virtual objects easily becomes a complex task, limiting the implementation of larger applications. In order to overcome some of these limitations, this paper describes a framework where the virtual object aids the user to accomplish a pre-programmed possible interaction. Such objects are called Smart Objects, in the sense(More)
This paper presents a novel whole-body analytical inverse kinematics (IK) method integrating collision avoidance and customizable body control for animating reaching tasks in real-time. Whole-body control is achieved with the interpolation of pre-designed key body postures, which are organized as a function of the direction to the goal to be reached. Arm(More)
We present algorithms for the efficient insertion and removal of constraints in Delaunay Triangulations. Constraints are considered to be points or any kind of polygonal lines. Degenerations such as edge overlapping, self-intersections or duplicated points are allowed and are automatically detected and fixed on line. As a result, a fully Dynamic Constrained(More)
The evolution of antibiotic resistance among bacteria threatens our continued ability to treat infectious diseases. The need for sustainable strategies to cure bacterial infections has never been greater. So far, all attempts to restore susceptibility after resistance has arisen have been unsuccessful, including restrictions on prescribing [1] and(More)
We describe the design of a modular system for untethered real-time kinematic motion capture using sensors with inertial measuring units (IMUs). Our system is comprised of a set of small and lightweight sensors. Each sensor provides its own global orientation (3 degrees of freedom) and is physically and computationally independent, requiring only external(More)