Optimizing walking controllers
ACM SIGGRAPH Asia 2009 papers
Robust physics-based locomotion using low-dimensional planning
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
Physically-based character control in low dimensional space
MIG'10 Proceedings of the Third international conference on Motion in games
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
Interactive Character Animation Using Simulated Physics: A State-of-the-Art Review
Computer Graphics Forum
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
Modeling and animating myriapoda: a real-time kinematic/dynamic approach
Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Flexible muscle-based locomotion for bipedal creatures
ACM Transactions on Graphics (TOG)
Beyond keyframe animations: a controller character-based stepping approach
SIGGRAPH Asia 2013 Technical Briefs
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We present a physics-based approach to generate 3D biped character animation that can react to dynamical environments in real time. Our approach utilizes an inverted pendulum model to online adjust the desired motion trajectory from the input motion capture data. This online adjustment produces a physically plausible motion trajectory adapted to dynamic environments, which is then used as the desired motion for the motion controllers to track in dynamics simulation. Rather than using Proportional-Derivative controllers whose parameters usually cannot be easily set, our motion tracking adopts a velocity-driven method which computes joint torques based on the desired joint angular velocities. Physically correct full-body motion of the 3D character is computed in dynamics simulation using the computed torques and dynamical model of the character. Our experiments demonstrate that tracking motion capture data with real-time response animation can be achieved easily. In addition, physically plausible motion style editing, automatic motion transition, and motion adaptation to different limb sizes can also be generated without difficulty.