Most of the human daily activities include acyclic multi-contact motions. Yet, generating such motions is challenging because of its high-dimensional and nonlinear solution space made by combinations of individual movements of body parts. In this paper, we present a novel keyframe-based framework to automatically generate multi-contact character motions. Our system consists of two components: key-pose planning and interpolation. Given initial and goal poses in which each contact can be repositioned at most one time during the transition, our key-pose planning step generates intermediate key-poses that represent contact changes, taking into account a set of principles for goal-directed movements. Next, the key-poses of each joint are independently interpolated to generate an acyclic multi-contact motion. We demonstrate that our framework can synthesize plausible interaction motions with a number of man-made objects, such as chairs and bicycles, without using any motion data. In addition, we show the scalability of our method by creating a long-term motion of climbing a ladder.

中文翻译：

---

基于关键帧的多接触运动合成

大多数人类日常活动包括非循环多接触运动。然而，产生这样的运动是具有挑战性的，因为它的高维和非线性解空间是由身体部位的个体运动组合而成的。在本文中，我们提出了一种新颖的基于关键帧的框架来自动生成多接触角色运动。我们的系统由两部分组成：关键姿势规划和插值。给定初始和目标姿势，其中每个接触在过渡期间最多可以重新定位一次，我们的关键姿势规划步骤生成代表接触变化的中间关键姿势，同时考虑到一组目标导向运动的原则。接下来，每个关节的关键姿势被独立插值以生成非循环多接触运动。我们证明了我们的框架可以在不使用任何运动数据的情况下合成与许多人造物体（例如椅子和自行车）的合理交互运动。此外，我们通过创建爬梯子的长期运动来展示我们方法的可扩展性。