International Journal of Robotics Research
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
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
SIGGRAPH '88 Proceedings of the 15th 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
Learning physics-based motion style with nonlinear inverse optimization
ACM SIGGRAPH 2005 Papers
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
Interactive simulation of stylized human locomotion
ACM SIGGRAPH 2008 papers
Optimal gait and form for animal locomotion
ACM SIGGRAPH 2009 papers
ACM SIGGRAPH 2009 papers
Contact-aware nonlinear control of dynamic characters
ACM SIGGRAPH 2009 papers
Robust task-based control policies for physics-based characters
ACM SIGGRAPH Asia 2009 papers
Real-Time Physics-Based 3D Biped Character Animation Using an Inverted Pendulum Model
IEEE Transactions on Visualization and Computer Graphics
Simultaneous tracking and balancing of humanoid robots for imitating human motion capture data
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Feature-based locomotion controllers
ACM SIGGRAPH 2010 papers
Feature-based locomotion controllers
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
Articulated swimming creatures
ACM SIGGRAPH 2011 papers
Modal-space control for articulated characters
ACM Transactions on Graphics (TOG)
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
Injury assessment for physics-based characters
MIG'11 Proceedings of the 4th international conference on Motion in Games
Optimizing locomotion controllers using biologically-based actuators and objectives
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Discovery of complex behaviors through contact-invariant optimization
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Terrain runner: control, parameterization, composition, and planning for highly dynamic motions
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Falling and landing motion control for character animation
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Interactive Character Animation Using Simulated Physics: A State-of-the-Art Review
Computer Graphics Forum
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
Planning contact points for humanoid robots
Robotics and Autonomous Systems
Control of rotational dynamics for ground behaviors
Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Flexible muscle-based locomotion for bipedal creatures
ACM Transactions on Graphics (TOG)
Data-driven control of flapping flight
ACM Transactions on Graphics (TOG)
| Hi-index | 0.00 |
This paper presents a physics-based locomotion controller based on online planning. At each time-step, a planner optimizes locomotion over multiple phases of gait. Stance dynamics are modeled using a simplified Spring-Load Inverted (SLIP) model, while flight dynamics are modeled using projectile motion equations. Full-body control at each instant is optimized to match the instantaneous plan values, while also maintaining balance. Different types of gaits, including walking, running, and jumping, emerge automatically, as do transitions between different gaits. The controllers can traverse challenging terrain and withstand large external disturbances, while following high-level user commands at interactive rates.