Legged robots that balance
Animation of dynamic legged locomotion
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
Spacetime constraints revisited
SIGGRAPH '93 Proceedings of the 20th annual conference on Computer graphics and interactive techniques
Fast contact force computation for nonpenetrating rigid bodies
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
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
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
A hierarchical approach to interactive motion editing for human-like figures
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Interactive manipulation of rigid body simulations
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
Practical methods for optimal control using nonlinear programming
Practical methods for optimal control using nonlinear programming
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Motion interpolation by optimal control
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
Motion capture-driven simulations that hit and react
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Control of Robot Manipulators
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Interactive motion generation from examples
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Efficient synthesis of physically valid human motion
ACM SIGGRAPH 2003 Papers
Motion Perturbation Based on Simple Neuromotor Control Models
PG '03 Proceedings of the 11th Pacific Conference on Computer Graphics and Applications
Synthesizing physically realistic human motion in low-dimensional, behavior-specific spaces
ACM SIGGRAPH 2004 Papers
Adaptation of performed ballistic motion
ACM Transactions on Graphics (TOG)
Learning physics-based motion style with nonlinear inverse optimization
ACM SIGGRAPH 2005 Papers
Applied optimal control for dynamically stable legged locomotion
Applied optimal control for dynamically stable legged locomotion
Dynamic Animation and Control Environment
GI '05 Proceedings of Graphics Interface 2005
Multiobjective control with frictional contacts
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
Responsive characters from motion fragments
ACM SIGGRAPH 2007 papers
Near-optimal character animation with continuous control
ACM SIGGRAPH 2007 papers
SIMBICON: simple biped locomotion control
ACM SIGGRAPH 2007 papers
Simulating biped behaviors from human motion data
ACM SIGGRAPH 2007 papers
Real-time reduced large-deformation models and distributed contact for computer graphics and haptics
Real-time reduced large-deformation models and distributed contact for computer graphics and haptics
Animating responsive characters with dynamic constraints in near-unactuated coordinates
ACM SIGGRAPH Asia 2008 papers
Synthesis of constrained walking skills
ACM SIGGRAPH Asia 2008 papers
Real-time control of physically based simulations using gentle forces
ACM SIGGRAPH Asia 2008 papers
ACM SIGGRAPH 2009 papers
Contact-aware nonlinear control of dynamic characters
ACM SIGGRAPH 2009 papers
Linear Bellman combination for control of character animation
ACM SIGGRAPH 2009 papers
Style learning and transferring for facial animation editing
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Optimizing walking controllers
ACM SIGGRAPH Asia 2009 papers
Robust task-based control policies for physics-based characters
ACM SIGGRAPH Asia 2009 papers
Evolved Controllers for Simulated Locomotion
MIG '09 Proceedings of the 2nd International Workshop on Motion in Games
Spatial relationship preserving character motion adaptation
ACM SIGGRAPH 2010 papers
Robust physics-based locomotion using low-dimensional planning
ACM SIGGRAPH 2010 papers
Optimizing walking controllers for uncertain inputs and environments
ACM SIGGRAPH 2010 papers
Optimal feedback control for character animation using an abstract model
ACM SIGGRAPH 2010 papers
ACM SIGGRAPH 2010 papers
Generalized biped walking control
ACM SIGGRAPH 2010 papers
Feature-based locomotion controllers
ACM SIGGRAPH 2010 papers
Motion fields for interactive character locomotion
ACM SIGGRAPH Asia 2010 papers
Goal-directed stepping with momentum control
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
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
Planning and synthesizing superhero motions
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)
Physically valid statistical models for human motion generation
ACM Transactions on Graphics (TOG)
Modal-space control for articulated characters
ACM Transactions on Graphics (TOG)
Controlling physics-based characters using soft contacts
Proceedings of the 2011 SIGGRAPH Asia Conference
Reactive virtual creatures for dexterous physical interactions
MIG'11 Proceedings of the 4th international conference on Motion in Games
Optimizing locomotion controllers using biologically-based actuators and objectives
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Video-based 3D motion capture through biped control
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
Falling and landing motion control for character animation
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Interactive Character Animation Using Simulated Physics: A State-of-the-Art Review
Computer Graphics Forum
Physically plausible simulation for character animation
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Physically plausible simulation for character animation
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Control of rotational dynamics for ground behaviors
Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Flexible muscle-based locomotion for bipedal creatures
ACM Transactions on Graphics (TOG)
Simulation and control of skeleton-driven soft body characters
ACM Transactions on Graphics (TOG)
Data-driven control of flapping flight
ACM Transactions on Graphics (TOG)
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Animating natural human motion in dynamic environments is difficult because of complex geometric and physical interactions. Simulation provides an automatic solution to parts of this problem, but it needs control systems to produce lifelike motions. This paper describes the systematic computation of controllers that can reproduce a range of locomotion styles in interactive simulations. Given a reference motion that describes the desired style, a derived control system can reproduce that style in simulation and in new environments. Because it produces high-quality motions that are both geometrically and physically consistent with simulated surroundings, interactive animation systems could begin to use this approach along with more established kinematic methods.