Constrained framespace interpolation

This paper aims to consistently blend different types of motions after establishing automatic correspondence between their salient features. Framespace interpolation is a consistent forward kinematics motion transition technique that uses weights from input spline curves to warp and blend motions. Its application has been limited to interactive interpolation of two or four cyclic motions. Though based on principles that minimize violations like sliding of supporting end-effectors, it does not guarantee slide-free motion. This paper extends the application of framespace interpolation to an unlimited chain of cyclic and acyclic motions, via an improved coordination warp and constraints on transition curves. Inverse kinematics has been seamlessly used to correct slide-violations on the fly. These extensions have opened up exciting possibilities in real-time cyclification, blending and concatenation of a wide variety of human motions.