Motion capture-driven simulations that hit and react
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Synthesizing physically realistic human motion in low-dimensional, behavior-specific spaces
ACM SIGGRAPH 2004 Papers
Natural motion animation through constraining and deconstraining at will
IEEE Transactions on Visualization and Computer Graphics
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
Simple data-driven control for simulated bipeds
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
Study on similarity imitation constraints of biped walking for humanoid robot
International Journal of Computing Science and Mathematics
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This paper presents a control framework for humanoid robots that uses all joints simultaneously to track motion capture data and maintain balance. The controller comprises two main components: a balance controller and a tracking controller. The balance controller uses a regulator designed for a simplified humanoid model to obtain the desired input to keep balance based on the current state of the robot. The simplified model is chosen so that a regulator can be designed systematically using, for example, optimal control. An example of such controller is a linear quadratic regulator designed for an inverted pendulum model. The desired inputs are typically the center of pressure and/or torques of some representative joints. The tracking controller then computes the joint torques that minimize the difference from desired inputs as well as the error from desired joint accelerations to track the motion capture data, considering exact full-body dynamics. We demonstrate that the proposed controller effectively reproduces different styles of storytelling motion using dynamics simulation considering limitations in hardware.