Animation of dynamic legged locomotion
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
SIGGRAPH '95 Proceedings of the 22nd 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
Biped Locomotion
Motion capture-driven simulations that hit and react
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Slipping and Tripping Reflexes for Bipedal Robots
Autonomous Robots
Fast and accurate computation of polyhedral mass properties
Journal of Graphics Tools
Mechanical model of the recovery from stumbling
Biological Cybernetics
Animating reactive motions for biped locomotion
Proceedings of the ACM symposium on Virtual reality software and technology
Capturing and animating skin deformation in human motion
ACM SIGGRAPH 2006 Papers
On the beat!: timing and tension for dynamic characters
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
Animating responsive characters with dynamic constraints in near-unactuated coordinates
ACM SIGGRAPH Asia 2008 papers
ACM SIGGRAPH 2009 papers
Contact-aware nonlinear control of dynamic characters
ACM SIGGRAPH 2009 papers
Optimal feedback control for character animation using an abstract model
ACM SIGGRAPH 2010 papers
Goal-directed stepping with momentum control
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Perception based real-time dynamic adaptation of human motions
MIG'10 Proceedings of the Third international conference on Motion in games
A data-driven appearance model for human fatigue
SCA '11 Proceedings of the 2011 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Modal-space control for articulated characters
ACM Transactions on Graphics (TOG)
Generating Responsive Life-Like Biped Characters
Proceedings of the The third workshop on Procedural Content Generation in Games
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To realize the full potential of human simulations in interactive environments, we need controllers that have the ability to respond appropriately to unexpected events. In this paper, we create controllers for the trip recovery responses that occur during walking. Two strategies have been identified in human responses to tripping: impact from an obstacle during early swing leads to an elevating strategy, in which the swing leg is lifted over the obstacle and impact during late swing leads to a lowering strategy, in which a swing leg is positioned immediately in front of the obstacle and then the other leg is swung forward and positioned in front of the body to allow recovery from the fall. We design controllers for both strategies based on the available biomechanical literature and data captured from human subjects in the laboratory. We evaluate our controllers by comparing simulated results and actual responses obtained from a motion capture system.