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
Adapting simulated behaviors for new characters
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Physically based motion transformation
Proceedings of the 26th 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
Modeling tension and relaxation for computer animation
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Motion capture-driven simulations that hit and react
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Synthesis of complex dynamic character motion from simple animations
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Simulation of leaping, tumbling, landing, and balancing humans
Simulation of leaping, tumbling, landing, and balancing humans
Motion Perturbation Based on Simple Neuromotor Control Models
PG '03 Proceedings of the 11th Pacific Conference on Computer Graphics and Applications
Momentum-based parameterization of dynamic character motion
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Dynamic response for motion capture animation
ACM SIGGRAPH 2005 Papers
Animating reactive motions for biped locomotion
Proceedings of the ACM symposium on Virtual reality software and technology
Interactive animation of dynamic manipulation
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
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
Interactive simulation of stylized human locomotion
ACM SIGGRAPH 2008 papers
Animating responsive characters with dynamic constraints in near-unactuated coordinates
ACM SIGGRAPH Asia 2008 papers
Optimization-based interactive motion synthesis
ACM Transactions on Graphics (TOG)
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
Practical character physics for animators
SIGGRAPH 2009: Talks
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
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
Standing balance control using a trajectory library
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Angular momentum control in coordinated behaviors
MIG'10 Proceedings of the Third international conference on Motion in games
Locomotion skills for simulated quadrupeds
ACM SIGGRAPH 2011 papers
Composite control of physically simulated characters
ACM Transactions on Graphics (TOG)
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
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
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
Task-driven posture optimization for virtual characters
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Simple data-driven control for simulated bipeds
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Task-driven posture optimization for virtual characters
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Simple data-driven control for simulated bipeds
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
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
Flexible muscle-based locomotion for bipedal creatures
ACM Transactions on Graphics (TOG)
Data-driven control of flapping flight
ACM Transactions on Graphics (TOG)
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Real-time adaptation of a motion capture sequence to virtual environments with physical perturbations requires robust control strategies. This paper describes an optimal feedback controller for motion tracking that allows for on-the-fly re-planning of long-term goals and adjustments in the final completion time. We first solve an offline optimal trajectory problem for an abstract dynamic model that captures the essential relation between contact forces and momenta. A feedback control policy is then derived and used to simulate the abstract model online. Simulation results become dynamic constraints for online reconstruction of full-body motion from a reference. We applied our controller to a wide range of motions including walking, long stepping, and a squat exercise. Results show that our controllers are robust to large perturbations and changes in the environment.