Animation of dynamic legged locomotion
Proceedings of the 18th 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
A planning algorithm for dynamic motions
Proceedings of the Eurographics workshop on Computer animation and simulation '96
Physically based motion transformation
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Planning biped locomotion using motion capture data and probabilistic roadmaps
ACM Transactions on Graphics (TOG)
Synthesizing physically realistic human motion in low-dimensional, behavior-specific spaces
ACM SIGGRAPH 2004 Papers
Geostatistical motion interpolation
ACM SIGGRAPH 2005 Papers
Learning physics-based motion style with nonlinear inverse optimization
ACM SIGGRAPH 2005 Papers
Motion modeling for on-line locomotion synthesis
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Robust execution of bipedal walking tasks from biomechanical principles
Robust execution of bipedal walking tasks from biomechanical principles
SIMBICON: simple biped locomotion control
ACM SIGGRAPH 2007 papers
Construction and optimal search of interpolated motion graphs
ACM SIGGRAPH 2007 papers
Simulating biped behaviors from human motion data
ACM SIGGRAPH 2007 papers
Evaluating motion graphs for character animation
ACM Transactions on Graphics (TOG)
Continuation methods for adapting simulated skills
ACM SIGGRAPH 2008 papers
Interactive simulation of stylized human locomotion
ACM SIGGRAPH 2008 papers
Contact-aware nonlinear control of dynamic characters
ACM SIGGRAPH 2009 papers
Linear Bellman combination for control of character animation
ACM SIGGRAPH 2009 papers
Optimizing walking controllers
ACM SIGGRAPH Asia 2009 papers
Robust task-based control policies for physics-based characters
ACM SIGGRAPH Asia 2009 papers
Motion Planning and Synthesis of Human-Like Characters in Constrained Environments
MIG '09 Proceedings of the 2nd International Workshop on Motion in Games
Terrain-adaptive bipedal locomotion control
ACM SIGGRAPH 2010 papers
ACM SIGGRAPH 2010 papers
Generalized biped walking control
ACM SIGGRAPH 2010 papers
Motion fields for interactive character locomotion
ACM SIGGRAPH Asia 2010 papers
Skills-in-a-box: towards abstract models of motor skills
MIG'10 Proceedings of the Third international conference on Motion in games
Motion parameterization with inverse blending
MIG'10 Proceedings of the Third international conference on Motion in games
Composite control of physically simulated characters
ACM Transactions on Graphics (TOG)
A hybrid interpolation scheme for footprint-driven walking synthesis
Proceedings of Graphics Interface 2011
Controlling physics-based characters using soft contacts
Proceedings of the 2011 SIGGRAPH Asia Conference
Dynamic balancing and walking for real-time 3d characters
MIG'11 Proceedings of the 4th international conference on Motion in Games
Interactive Character Animation Using Simulated Physics: A State-of-the-Art Review
Computer Graphics Forum
FingerWalking: motion editing with contact-based hand performance
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Simple data-driven control for simulated bipeds
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Finger walking: motion editing with contact-based hand performance
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Simple data-driven control for simulated bipeds
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
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Simulated characters in simulated worlds require simulated skills. We develop control strategies that enable physically-simulated characters to dynamically navigate environments with significant stepping constraints, such as sequences of gaps. We present a synthesis-analysis-synthesis framework for this type of problem. First, an offline optimization method is applied in order to compute example control solutions for randomly-generated example problems from the given task domain. Second, the example motions and their underlying control patterns are analyzed to build a low-dimensional step-to-step model of the dynamics. Third, this model is exploited by a planner to solve new instances of the task at interactive rates. We demonstrate real-time navigation across constrained terrain for physics-based simulations of 2D and 3D characters. Because the framework sythesizes its own example data, it can be applied to bipedal characters for which no motion data is available.