Animation of dynamic legged locomotion
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
Beyond keyframing: an algorithmic approach to animation
Proceedings of the conference on Graphics interface '92
SIGGRAPH '93 Proceedings of the 20th annual conference on Computer graphics and interactive techniques
Automated learning of muscle-actuated locomotion through control abstraction
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Further experience with controller-based automatic motion synthesis for articulated figures
ACM Transactions on Graphics (TOG)
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
Adapting simulated behaviors for new characters
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Physically based motion transformation
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
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
Introduction to Stochastic Search and Optimization
Introduction to Stochastic Search and Optimization
Keyframe control of smoke simulations
ACM SIGGRAPH 2003 Papers
Simulation of leaping, tumbling, landing, and balancing humans
Simulation of leaping, tumbling, landing, and balancing humans
Synthesizing physically realistic human motion in low-dimensional, behavior-specific spaces
ACM SIGGRAPH 2004 Papers
Momentum-based parameterization of dynamic character motion
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Adaptation of performed ballistic motion
ACM Transactions on Graphics (TOG)
Composition of complex optimal multi-character motions
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
SIMBICON: simple biped locomotion control
ACM SIGGRAPH 2007 papers
Simulating biped behaviors from human motion data
ACM SIGGRAPH 2007 papers
IEEE Computer Graphics and Applications
Synthesis of constrained walking skills
ACM SIGGRAPH Asia 2008 papers
Accelerometer-based user interfaces for the control of a physically simulated character
ACM SIGGRAPH Asia 2008 papers
ACM SIGGRAPH 2009 papers
Linear Bellman combination for control of character animation
ACM SIGGRAPH 2009 papers
Optimizing walking controllers
ACM SIGGRAPH Asia 2009 papers
Terrain-adaptive bipedal locomotion control
ACM SIGGRAPH 2010 papers
Sampling-based contact-rich motion control
ACM SIGGRAPH 2010 papers
ACM SIGGRAPH 2010 papers
Generalized biped walking control
ACM SIGGRAPH 2010 papers
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Performance capture with physical interaction
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Physically-based character control in low dimensional space
MIG'10 Proceedings of the Third international conference on Motion in games
Skills-in-a-box: towards abstract models of motor skills
MIG'10 Proceedings of the Third international conference on Motion in games
Articulated swimming creatures
ACM SIGGRAPH 2011 papers
Composite control of physically simulated characters
ACM Transactions on Graphics (TOG)
Dynamic balancing and walking for real-time 3d characters
MIG'11 Proceedings of the 4th international conference on Motion in Games
Video-based 3D motion capture through biped control
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Discovery of complex behaviors through contact-invariant optimization
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Terrain runner: control, parameterization, composition, and planning for highly dynamic motions
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Curriculum learning for motor skills
Canadian AI'12 Proceedings of the 25th Canadian conference on Advances in Artificial Intelligence
Interactive Character Animation Using Simulated Physics: A State-of-the-Art Review
Computer Graphics Forum
Simple data-driven control for simulated bipeds
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Simple data-driven control for simulated bipeds
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Diverse motion variations for physics-based character animation
Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation
| Hi-index | 0.03 |
Modeling the large space of possible human motions requires scalable techniques. Generalizing from example motions or example controllers is one way to provide the required scalability. We present techniques for generalizing a controller for physics-based walking to significantly different tasks, such as climbing a large step up, or pushing a heavy object. Continuation methods solve such problems using a progressive sequence of problems that trace a path from an existing solved problem to the final desired-but-unsolved problem. Each step in the continuation sequence makes progress towards the target problem while further adapting the solution. We describe and evaluate a number of choices in applying continuation methods to adapting walking gaits for tasks involving interaction with the environment. The methods have been successfully applied to automatically adapt a regular cyclic walk to climbing a 65cm step, stepping over a 55cm sill, pushing heavy furniture, walking up steep inclines, and walking on ice. The continuation path further provides parameterized solutions to these problems.