Virya—a motion control editor for kinematic and dynamic animation
Proceedings on Graphics Interface '86/Vision Interface '86
Using dynamic analysis to animate articulated bodies such as humans and robots
Proceedings of Graphics Interface '85 on Computer-generated images: the state of the art
Using dynamic analysis for realistic animation of articulated bodies
IEEE Computer Graphics and Applications
Near-real-time control of human figure models
IEEE Computer Graphics and Applications
Controlling dynamic simulation with kinematic constraints
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Goal-directed, dynamic animation of human walking
SIGGRAPH '89 Proceedings of the 16th annual conference on Computer graphics and interactive techniques
Dynamic simulation of autonomous legged locomotion
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Animation of dynamic legged locomotion
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
Interactive spacetime control for animation
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
SIGGRAPH '93 Proceedings of the 20th annual conference on Computer graphics and interactive techniques
Hierarchical spacetime control
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Impulse-based simulation of rigid bodies
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
Impulse-based dynamic simulation
WAFR Proceedings of the workshop on Algorithmic foundations of robotics
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Limit cycle control and its application to the animation of balancing and walking
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Physically based motion transformation
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Tracking and modifying human motion with dynamic simulation
ACM SIGGRAPH 99 Conference abstracts and applications
A computational framework for simulating and analyzing human and animal movement
Computing in Science and Engineering
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Composable controllers for physics-based character animation
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Modeling tension and relaxation for computer animation
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Motion capture-driven simulations that hit and react
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Robust treatment of collisions, contact and friction for cloth animation
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Attaching physiological effects to motion-captured data
GRIN'01 No description on Graphics interface 2001
User-Controlled Physics-Based Animation for Articulated Figures
CA '96 Proceedings of the Computer Animation
Recursive Dynamics and Optimal Control Techniques for Human Motion Planning
CA '99 Proceedings of the Computer Animation
Finite volume methods for the simulation of skeletal muscle
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
Construction and animation of anatomically based human hand models
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
Nonconvex rigid bodies with stacking
ACM SIGGRAPH 2003 Papers
Creating and Simulating Skeletal Muscle from the Visible Human Data Set
IEEE Transactions on Visualization and Computer Graphics
Adaptive dynamics of articulated bodies
ACM SIGGRAPH 2005 Papers
Fast frictional dynamics for rigid bodies
ACM SIGGRAPH 2005 Papers
Learning physics-based motion style with nonlinear inverse optimization
ACM SIGGRAPH 2005 Papers
Helping hand: an anatomically accurate inverse dynamics solution for unconstrained hand motion
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Dynamic Simulation of Articulated Rigid Bodies with Contact and Collision
IEEE Transactions on Visualization and Computer Graphics
Heads up!: biomechanical modeling and neuromuscular control of the neck
ACM SIGGRAPH 2006 Papers
Fast physically based musculoskeletal simulation
SIGGRAPH '05 ACM SIGGRAPH 2005 Sketches
Computer
IEEE Computer Graphics and Applications
Animating Human Locomotion with Inverse Dynamics
IEEE Computer Graphics and Applications
Musculotendon simulation for hand animation
ACM SIGGRAPH 2008 papers
Two-way coupling of rigid and deformable bodies
Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Optimizing locomotion controllers using biologically-based actuators and objectives
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Interactive Character Animation Using Simulated Physics: A State-of-the-Art Review
Computer Graphics Forum
Misconceptions of PD control in animation
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Misconceptions of PD control in animation
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Fracture and impulse based finite-discrete element modeling of fragmentation
Computational Mechanics
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We propose a novel approach to proportional derivative (PD) control exploiting the fact that these equations can be solved analytically for a single degree of freedom. The analytic solution indicates what the PD controller would accomplish in isolation without interference from neighboring joints, gravity and external forces, outboard limbs, etc. Our approach to time integration includes an inverse dynamics formulation that automatically incorporates global feedback so that the per joint predictions are achieved. This effectively decouples stiffness from control so that we obtain the desired target regardless of the stiffness of the joint, which merely determines when we get there. We start with simple examples to illustrate our method, and then move on to more complex examples including PD control of line segment muscle actuators.