Fields of expertise
Human Movement Modelling,
Human Posture Optimization,
Real-Time 3D Interaction,
Locomotion and steering control,
Expression of complex emotions
Presented PhD thesis:
Thibault Porssut (2021)
Henrique Galvan Debarba (2016)
Eray Molla (2015)
Daniel Raunhardt (2010)
Schubert de Carvalho (2009)
Benoît Le Callennec (2006)
Paolo Baerlocher (2001)
SupervisorPresented PhD thesis:
Co-AdvisorOn-going PhD thesis:
Manuel Peinado Gallego (Uni. Alcala, Spain)
Presented PhD thesis:
Inmaculada Rodriguez Santiago (Uni. Alcala, Spain)
Ramon Mas Sanso (Uni. Balearic Islands, Spain)
MissionRESEARCH: My major research interest is on motion synthesis for virtual humans and robot, in particular while performing immersive 3D full-body interactions within potentially complex virtual envrionments. This includes also human movement modeling with some recent activities in collaboration with EPFL Cognitive Neuroscience Laboratory (LNCO). Applications can be found in Virtual Prototyping, Games, Ergonomics, 3D Human-Machine Interfaces, etc... Since February 2011 I lead the Immersive Interaction research group (IIG).
TEACHING: I greatly appreciate to teach the basis of Computer Science (ICC), Programming and Software Engineering to first year
BiographyI come from Brittany, France, where I have completed my PhD degree in Computer Science in 1986 from the University of Rennes, France, at the INRIA-IRISA research institute. I also received the Habilitation degree from the University of Grenoble, France, in march 1995.
I was hired in 1989 as First Assistant in the VRLAB, I became scientific collaborator, and senior researcher.
Check also my account on Research Gate
Cybersickness assessment framework(CSAF): An Open Source Repository for Standardized Cybersickness Experiments2023-03-26. 2023 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW), Shanghai, March 26-30, 2023. DOI : 10.1109/VRW58643.2023.00103.
Unintentional synchronization with self-avatar for upper- and lower-body movementsFrontiers in Virtual Reality. 2023-02-23. DOI : 10.3389/frvir.2023.1073549.
Changing Finger Movement Perception: Influence of Active Haptics on Visual DominanceFrontiers in Virtual Reality. 2022-04-27. DOI : 10.3389/frvir.2022.860872.
On the Importance of Providing a Tangible Haptic Response for Training Cardiopulmonary Resuscitation in Virtual Reality2021-12-01. ICAT-EGVE 2020 - International Conference on Artificial Reality and Telexistence and Eurographics Symposium on Virtual Environments, Orlando, USA, December 2-4, 2020. p. 17-25. DOI : 10.2312/egve.20201255.
A Too to Design Interactive Characters Based on Embodied CognitionIeee Transactions On Games. 2019-12-01. DOI : 10.1109/TCIAIG.2017.2755699.
SPA: Sparse Photorealistic Animation Using a Single RGB-D CameraIeee Transactions On Circuits And Systems For Video Technology. 2017. DOI : 10.1109/Tcsvt.2016.2556419.
Artist-Oriented 3D Character Posing from 2D StrokesComputers & Graphics. 2016. DOI : 10.1016/j.cag.2016.03.008.
Parallel Inverse Kinematics for Multithreaded ArchitecturesACM Transactions on Graphics. 2016. DOI : 10.1145/2887740.
Latent motion spaces for full-body motion editingVis Comput. 2013. DOI : 10.1007/s00371-012-0678-z.
Towards a Disambiguation Canvas2013. 20th IEEE Virtual Reality Conference (VR), Orlando, FL, MAR 16-23, 2013. p. 113-114. DOI : 10.1109/VR.2013.6549388.
Singularity Free Parametrization of Human Limbs2013. MIG '13 Proceedings of the Motion in Games, Dublin, Ireland, 06-08 November 2013. p. 165-174. DOI : 10.1145/2522628.2522649.
A two-arm coordination model for phantom limb pain rehabilitation2013. The 19th ACM Symposium on Virtual Reality Software and Technology (VRST 2013), Singapore, 06-09 October 2013. p. 35. DOI : 10.1145/2503713.2503739.
An NVC Emotional Model for Conversational Virtual Humans in a 3D Chatting Environment2012. 7th International Conference on Articulated Motion and Deformable Objects (AMDO 2012), Port d’Andratx, Mallorca, Spain, July 11-13, 2012. p. 47-57. DOI : 10.1007/978-3-642-31567-1_5.
An Event-Based Architecture to Manage Virtual Human Non-Verbal Communication in 3D Chatting Environment2012. 7th International Conference on Articulated Motion and Deformable Objects (AMDO 2012), Port d’Andratx, Mallorca, Spain, July 11-13, 2012. p. 58-68. DOI : 10.1007/978-3-642-31567-1_6.
Conveying Real-Time Ambivalent Feelings through Asymmetric Facial Expressions2012. 5th International Conference on Motion in Games (MIG 2012), Rennes, France, November 15-17, 2012. p. 122-133. DOI : 10.1007/978-3-642-34710-8_12.
Within-Crowd Immersive Evaluation of Collision Avoidance Behaviors2012. 11th ACM SIGGRAPH International Conference on Virtual-Reality Continuum and its Applications in Industry (VRCAI 2012), Singapore, December 2-4, 2012. p. 231-238. DOI : 10.1145/2407516.2407573.
Immersive singularity-free full-body interactions with reduced marker setComputer Animation And Virtual Worlds. 2011. DOI : 10.1002/cav.378.
Spatial Awareness in Full-Body Immersive Interactions: Where Do We Stand?2010. 3rd International Conference on Motion in Games, Utrecht, NETHERLANDS, Nov 14-16, 2010. p. 59-69. DOI : 10.1007/978-3-642-16958-8_7.
Penetration Depth Method-Novel Real-Time Strategy for Evaluating Femoroacetabular ImpingementJournal Of Orthopaedic Research. 2010. DOI : 10.1002/jor.21076.
Estimating Hip Joint Contact Pressure from Geometric Features2009. Workshop on 3D Physiological Human, Zermatt, SWITZERLAND, Dec, 2008. p. 165-177. DOI : 10.1007/978-1-84882-565-9_11.
Improving the Believability of Virtual Characters Using Qualitative Gesture Analysis2009. 7th International Gesture Workshop, Lisbon, PORTUGAL, May 23-25, 2007. p. 48-56. DOI : 10.1007/978-3-540-92865-2_5.
Avatar et Humain Virtuel InteractifLe traité de la réalité virtuelle; Paris: Presses de l'Ecole des Mines de Paris, 2009.
Full-Body Avatar Control with Environment AwarenessIeee Computer Graphics And Applications. 2009. DOI : 10.1109/MCG.2009.42.
Fast collision detection methods for joint surfacesJournal of Biomechanics. 2009. DOI : 10.1016/j.jbiomech.2008.10.017.
Evaluating the influence of induced passive torques in the simulation of time-varying human posesComputers & Graphics-Uk. 2008. DOI : 10.1016/j.cag.2008.06.001.
Accurate On-line Avatar Control with Collision Anticipation2007. ACM Symposium on Virtual Reality Software and Technology, Newport Beach, CA, Nov 05-07, 2007. p. 89-98. DOI : 10.1145/1315184.1315200.
Virtual Human AnimationCrowd Simulation; Springer, 2007.
Efficient Collision Detection within Deforming Spherical Sliding ContactIEEE Transactions in Visualization and Computer Graphics. 2007. DOI : 10.1109/TVCG.2007.1016.
A Fast Method for Finding Range of Motion in the Human Joints2007. 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Lyon, France, August 23-26, 2007. p. 5079-5082. DOI : 10.1109/IEMBS.2007.4353482.
A fast method for finding maximum range of motion in the hip joint2007. The 7th Annual Meeting of the International Society for Computer Assisted Orthopaedic Surgery (CAOS'07), Heidelberg, Germany, June 20-23, 2007. p. 497-500.
Motion Pattern Preserving IK Operating in the Motion Principal Coefficients Space2007. The 15th International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision ( WSCG 2007), Plzen - Czech Republic, January 29 - February 1, 2007. p. 97-104.
Exploiting Coupled Joints2007. Conference of GRAPP'07, Barcelona, Spain.
Simulating Reactive/Passive Postures by means of a Human Active Torque hybrid Optimization2007. Conference of GRAPP07, Barcelona, Spain.
Modèles pour les HumanoïdesTraité de Réalité Virtuelle; Presses de l’Ecoles des Mines de Paris, 2006.
Environment-Aware Postural Control of Virtual Humans for Real-time Applications2006. of the SAE Conference on Digital Human Modeling for Design and Engineering, Lyon, France, July 2006.
Robust Kinematic Constraint Detection for Motion Data2006. ACM SIGGRAPH / Eurographics Symposium on Computer Animation, Vienna, Austria, September 2006. p. 281–290.
Interactive motion deformation with prioritized constraintsGraphical Models. 2006. DOI : 10.1016/j.gmod.2005.03.001.
Stress Distribution Visualization on Pre- and Post-Operative Virtual Hip Joint2005. Computer Aided Orthopedic Surgery 2005, Helsinki, Finland, 2005. p. 298-301.
Progressive Cartesian Inequality Constraints for the Inverse Kinematics Control of Articulated Chains2005. Eurographics, Short Presentation session. DOI : 10.2312/egs.20051032.
An Intuitive IK Postural Control System for Anthropometric Digital Human Models2005. 11th International Conference on Virtual Systems and Multimedia.
Challenges in exploiting prioritized inverse kinematics for motion capture and postural control2005. 6th International Gesture Workshop, GW 2005, Berder Island, France, 2005. p. 176-187. DOI : 10.1007/11678816_21.
On-line adapted transition between locomotion and jump2005. Computer Graphics International 2005, Stony Brook, NY, USA, 2005. p. 44-50. DOI : 10.1109/CGI.2005.1500367.
Multi-finger haptic rendering of deformable objects2004. Tenth Eurographics Symposium on Virtual Environments (In Cooperation with ACM Siggraph), Grenoble, France, June 2004. p. 105-112. DOI : 10.2312/EGVE/EGVE04/105-112.
Evaluation and visualization of stress and strain on soft biological tissues in contact2004. Shape Modeling Applications, 2004, Genova, Italy, June 7-9, 2004. p. 255-262. DOI : 10.1109/SMI.2004.1314512.
Standards for Virtual Human Animation: H-ANIM and MPEG4Handbook of Virtual Humans; John Wiley, 2004.
Computer Animation TechniquesHandbook of Virtual Humans; John Wiley, 2004.
A Generic Method for Geometric Contraints Detection2004. Eurographics, Grenoble, France, 30 August - 3 September, 2004.
Towards Configurable Motion Capture with Prioritized Inverse Kinematics2004. Third International Workshop on Virtual Rehabilitation (IWVR2004), Lausanne, Switzerland, 16-17 Septembre. p. 85-96.
Multi-Finger Haptic Rendering of Deformable Objects2004. Eurographics/ACM SIGGRAPH Symposium, Grenoble, France. p. 105-111.
A Coherent Locomotion Engine Extrapolating Beyond Experimental Data2004. Computer Animation and Social Agents (CASA), Geneva, Switzerland, 2204. p. 73-84.
Motion Blending: Illustration with Cyclic and Episodic Patterns2004. CAPTECH Workshop, Zermatt, Switzerland, December, 2004.
Versatile Walk Engine, Journal Of Game DevelopmentJournal of Game Development. 2004.
An inverse kinematics architecture enforcing an arbitrary number of strict priority levelsVisual Computer. 2004. DOI : 10.1007/s00371-004-0244-4.
PCA-based walking engine using motion capture data2004. Computer Graphics International, 2004, Crete, Greece, 2004.
Approximating Human Reaching Volumes using Inverse Kinematics2003. IEEE-RAS International Conference on Humanoid Robots, Karlsruhe & Munich, Germany. p. 81-88.
A Model to Assess Fatigue at Joint-Level Using the Half-Joint Concept2003. IEEE-RAS International Conference on Humanoid Robots, Karlsruhe & Munich, Germany. p. 97-105.
Towards a Parameterization Method for Virtual Soft Tissues Based on Properties of Biological Tissue2003. 5th IFAC 2003 Symposium on Modelling and Control in Biomedical Systems (including Biological Systems), Melbourne, Australia, August, 2003. p. 235-240. DOI : 10.1016/S1474-6670(17)33507-3.
Integrating Age Attributes to Virtual Human LocomotionInternational Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2003.
From Measurements to Model: the Walk Engine2003. 6th Conference on Optical 3D measurement Techniques, Zurich, Switzerland, 2003.
Motion Editing with Prioritized Constraints2003. 1st International Workshop on Interactive Rich Media Content Production - Architectures, Technologies, Lausanne, Switzerland, 16-17 October, 2003.
Experimenting Prioritized IK for Motion Editing2003. Annual Conference of the European association for Computer Graphics, Granada, Spain, 1-6 September.
Keynote speaker: Cinématique inverse pour l'optimisation de postures humaines soumises à des contraintes multiples2003. Humanoid Day, Societe Francaise de Biomecanique, Valencienne, Spain, 15 May 2003.
Deformable tissue parameterized by properties of real biological tissue2003. International Symposium, IS4TM 2003, Juan-Les-Pins, France, June 12–13, 2003. p. 74-87. DOI : 10.1007/3-540-45015-7_8.
Visualizing human fatigue at joint level with the half-joint pair concept2003. p. 37-45. DOI : 10.1117/12.473943.
Bringing the human arm reachable space to a virtual environment for its analysis2003. p. 229-232. DOI : 10.1109/ICME.2003.1220896.
Reaching volumes generated by means of octal trees and Cartesian constraints2003. p. 324-329. DOI : 10.1109/CGI.2003.1214490.
A Joint-level Model of Fatigue for the Postural Control of Virtual Humans2002. 5th Int. Conference "Human and Computer" HC02, Aizu University , Japan, September, 2002.
Cinématique Inverse pour Personnage en 3D, Solutions analytiques et variationnellesJournal de CFAO. 2001.
Real-time display of virtual humans: levels of details and impostorsIEEE Transactions on Circuits and Systems for Video Technology. 2000. DOI : 10.1109/76.825720.
Kinematic control of the mass properties of redundant articulated bodies2000. p. 2557-2562. DOI : 10.1109/ROBOT.2000.846413.
Using an intermediate skeleton and inverse kinematics for motion retargeting2000. Eurographics 2000, Interlaken, Switzerland, 20-25 August 2000. p. 11-19.
Human Shape and Motion Recovery Using Animation Models2000.
Motion Editing Using Multiresolution Filtering1999. Multimedia Modeling Conference , Ottawa, Ontario, Canada, 4-8 Octobre, 1999.
Virtual human life simulation and database: why and how1999. International Symposium on Database Applications in Non-Traditional Environments 1999 (DANTE'99), Kyoto, Japan, 28-30 November 1999. DOI : 10.1109/DANTE.1999.844994.
Lowering the cost of virtual human rendering with structured animated impostors1999. 7th International Conference in Central Europe on Computer Graphics, Visualization and Interactive Digital Media'99. in co-operation with EUROGRAPHICS and IFIP WG 5.10. WSCG'99., Plzen, Czech Republic.
An efficient and flexible perception pipeline for autonomous agents1999. Computer Graphics Forum, Milan, Italy. p. 23-29. DOI : 10.1111/1467-8659.00324.
Conferring human action recognition skills to life-like agentsApplied Artificial Intelligence Journal. 1999. DOI : 10.1080/088395199117379.
Body expression in virtual environments1999. 8th International Workshop on Robot and Human Interaction. RO-MAN '99 , Pisa, Italy, September, 1999. DOI : 10.1109/ROMAN.1999.900336.
An Informed Environment dedicated to the simulation of virtual humans in urban context1999. p. 309-17.
An architecture for immersive evaluation of complex human tasksIEEE Transactions on Robotics and Automation. 1999. DOI : 10.1109/70.768180.
Human motion capture driven by orientation measurementsPresence. 1999. DOI : 10.1162/105474699566161.
An Anatomic Human Body For Motion Capture1998.
One Step Towards Virtual Human Management for Urban Environment Simulation1998. Workshop on Intelligent User Interfaces, Brighton, UK., 23-28 August.
Animated impostors for real-time display of numerous virtual humans1998. First International Conference onVirtual Worlds 1998 , VW'98, Paris, France, 1-3 July, 1998. p. 14–28. DOI : 10.1007/3-540-68686-X_2.
Task-priority formulations for the kinematic control of highly redundant articulated structures1998. International Conference on Intelligent Robots and Systems, Victoria, BC, Canada, 12-14 Décembre, 1998. p. 323-329. DOI : 10.1109/IROS.1998.724639.
Interacting with virtual humans through body actionsIEEE Computer Graphics and Applications. 1998. DOI : 10.1109/38.637261.
Integration of motion control techniques for virtual human and avatar real-time animation1997. ACM Symposium on Virtual Reality Software and Technology 1997, Lausanne, Switzerland. DOI : 10.1145/261135.261156.
Interactive identification of the center of mass reachable space for an articulated manipulator1997. 8th International Conference on Advanced Robotics, Monterey, CA, USA. DOI : 10.1109/ICAR.1997.620242.
Complex character positioning based on a compatible flow model of multiple supportsIEEE Transactions on Visualization and Computer Graphics. 1997. DOI : 10.1109/2945.620491.
Multi-level modeling and recognition of human actions involving full body motion1997. First International Conference on Autonomous Agents, Marina del Rey, CA, USA. DOI : 10.1145/267658.267794.
Real-time interactions with virtual agents driven by human action identification1997. First International Conference on Autonomous Agents, Marina del Rey, CA, USA, 1997. DOI : 10.1145/267658.269948.
Live participant's action recognition for virtual reality interactions1997. The Fifth Pacific Conference on Computer Graphics and Applications, Seoul, South Korea. DOI : 10.1109/PCCGA.1997.626167.
An animation interface designed for motion capture1997. Conference on Computer Animation '97, Geneva, Switzerland. DOI : 10.1109/CA.1997.601044.
Computer Animation and Simulation 96Springer Verlag, Wien.
Hierarchical Kinematics Behaviors for Complex Articulated FiguresInteractive Computer Animation; Prentice Hall, 1996. p. 40-70.
A Robust Motion Signature for the Analysis of Knee Trajectories1996. Fourth International Symposium on 3-D Analysis of Human Movement, June, 1996.
A robust approach for the control of the center of mass with inverse kineticsComputers & Graphics. 1996. DOI : 10.1016/S0097-8493(96)00043-X.
Multi-finger manipulation of virtual objects1996. ACM Symposium on Virtual Reality and Technology, Hong Kong. p. 67–74. DOI : 10.1145/3304181.3304195.
A real time anatomical converter for human motion capture1996. Computer Animation and Simulation '96. , Poitiers, France.
Position control of the center of mass for articulated figures in multiple support1996. Computer Animation and Simulation '95., Maastricht, Netherlands, 1995.
A system for the Parallel Integrated Motion of Multiple Deformable Human Characters with Collision DetectionComputer Graphics Forum. 1995.
Virtual and Real Humans Interacting in the Virtual World1995. International Conference on Virtual Systems and Multimedia `95, Gifu, Japan, 1995. p. 48-57.
The HUMANOID environment for interactive animation of multiple deformable human characters1995. Computer Graphics Forum, Maastricht, Netherlands. p. 337-48.
A Stereoscopic Restitution Environment for 3D anaysis of Gait1994. 3rd Symposium of 3D Analysis of Human Motion, Stockholm, Sweeden, 1994. p. 53-56.
Inverse Kinetics for Center of Mass Position Control and Posture Optimization1994. European Workshop on Combined Real and Synthetic Image Processingfor Broadcast and video Production, Hamburg, Germany, November, 1994.
Automatic derivation of curved human walking trajectories from synthetic vision1994. Computer Animation '94, Geneva, Switzerland, 1994. DOI : 10.1109/CA.1994.324002.
Goal-oriented design and correction of articulated figure motion with the TRACK systemComputers & Graphics. 1994. DOI : 10.1016/0097-8493(94)90056-6.
Vision-based Human Free-Walking on Sparse Foothold Locations1993. Fourth Eurographics Workshop on Animation andSimulation, Barcelona, Spain, 1993. p. 173-191..
A unified framework for the motion manipulation of articulated figures with the TRACK system1993. The Third International Conference on CAD and Computer Graphics, Beijing, China, 1993.
TRACK: A Kinematic Goal-Oriented Animation System for Coordinated Editing of Joint-Space Based Motions1992. 3rd Eurographics Workshop on Animation and Simulation, Cambridge, UK, 1992.
An interactive tool for the design of human free-walking trajectories1992. Creating and Animating the Virtual World'92, Geneva, Switzerland, 1992.
Combined direct and inverse kinematic control for articulated figure motion editingComputer Graphics Forum. 1992. DOI : 10.1111/1467-8659.1140189.
3D Hierarchies for AnimationNew Trends in Animation and Visualization; Chichester, UK: John Wiley and Sons, 1991. p. 59-78.
Coach-Trainee: A New Methodology for the Correction of Predefined Motions1990. Eurographics Workshop on Animation and Simulation'90, Lausanne, Switzerland. p. 1-14.
Human free-walking model for a real-time interactive design of gaits1990. Computer Animation '90, Geneva, Switzerland, 1990.
A global human walking model with real-time kinematic personificationVisual Computer. 1990. DOI : 10.1007/BF01901021.
Research Gate profilehttps://www.researchgate.net/profile/Ronan_Boulic/
Teaching & PhD
PhD StudentsBoban Loën,
Past EPFL PhD StudentsDelahaye Mathias Guy , Galvan Debarba Henrique , Molla Eray , Porssut Thibault Serge Mario , Raunhardt Daniel , Ribeiro de Carvalho Schubert , Tian Nana ,
- Visual display
- Interaction devices and sensors
- Software environment (UNITY3D, programming in C#)
The proportion of more theoretical VR and Neuroscience background increases over the semester:
- Key Human perception abilities, cybersickness, im