Motion capture-driven simulations that hit and react
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Robot Dynamics Algorithm
Motion Perturbation Based on Simple Neuromotor Control Models
PG '03 Proceedings of the 11th Pacific Conference on Computer Graphics and Applications
Hybrid Control for Interactive Character Animation
PG '03 Proceedings of the 11th Pacific Conference on Computer Graphics and Applications
Dynamic response for motion capture animation
ACM SIGGRAPH 2005 Papers
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Animating reactive motions for biped locomotion
Proceedings of the ACM symposium on Virtual reality software and technology
Animating reactive motion using momentum-based inverse kinematics: Motion Capture and Retrieval
Computer Animation and Virtual Worlds - CASA 2005
On the beat!: timing and tension for dynamic characters
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
Multiobjective control with frictional contacts
SCA '07 Proceedings of the 2007 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
Continuation methods for adapting simulated skills
ACM SIGGRAPH 2008 papers
Interactive simulation of stylized human locomotion
ACM SIGGRAPH 2008 papers
Simulating balance recovery responses to trips based on biomechanical principles
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Optimizing walking controllers
ACM SIGGRAPH Asia 2009 papers
Spatial relationship preserving character motion adaptation
ACM SIGGRAPH 2010 papers
Robust physics-based locomotion using low-dimensional planning
ACM SIGGRAPH 2010 papers
Optimal feedback control for character animation using an abstract model
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
Feature-based locomotion controllers
ACM SIGGRAPH 2010 papers
Editing dynamic human motions via momentum and force
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
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
Animating non-humanoid characters with human motion data
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Skills-in-a-box: towards abstract models of motor skills
MIG'10 Proceedings of the Third international conference on Motion in games
Angular momentum control in coordinated behaviors
MIG'10 Proceedings of the Third international conference on Motion in games
Perception based real-time dynamic adaptation of human motions
MIG'10 Proceedings of the Third international conference on Motion in games
Human motion reconstruction from force sensors
SCA '11 Proceedings of the 2011 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Modal-space control for articulated characters
ACM Transactions on Graphics (TOG)
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Interactive Character Animation Using Simulated Physics: A State-of-the-Art Review
Computer Graphics Forum
Adaptive dynamics with hybrid response
SIGGRAPH Asia 2012 Technical Briefs
Simple data-driven control for simulated bipeds
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Physically plausible simulation for character animation
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
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
Physically plausible simulation for character animation
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Biologically---Inspired motion pattern design of multi---legged creatures
EvoMUSART'13 Proceedings of the Second international conference on Evolutionary and Biologically Inspired Music, Sound, Art and Design
Control of rotational dynamics for ground behaviors
Proceedings of the 12th 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
Simulation and control of skeleton-driven soft body characters
ACM Transactions on Graphics (TOG)
Centroidal dynamics of a humanoid robot
Autonomous Robots
Character motion control interface with hand manipulation inspired by puppet mechanism
Proceedings of the 12th ACM SIGGRAPH International Conference on Virtual-Reality Continuum and Its Applications in Industry
Proceedings of Motion on Games
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We demonstrate a real-time simulation system capable of automatically balancing a standing character, while at the same time tracking a reference motion and responding to external perturbations. The system is general to non-human morphologies and results in natural balancing motions employing the entire body (for example, wind-milling). Our novel balance routine seeks to control the linear and angular momenta of the character. We demonstrate how momentum is related to the center of mass and center of pressure of the character and derive control rules to change these centers for balance. The desired momentum changes are reconciled with the objective of tracking the reference motion through an optimization routine which produces target joint accelerations. A hybrid inverse/forward dynamics algorithm determines joint torques based on these joint accelerations and the ground reaction forces. Finally, the joint torques are applied to the free-standing character simulation. We demonstrate results for following both motion capture and keyframe data as well as both human and non-human morphologies in presence of a variety of conditions and disturbances.