SIGGRAPH '93 Proceedings of the 20th annual conference on Computer graphics and interactive techniques
Spacetime constraints revisited
SIGGRAPH '93 Proceedings of the 20th annual conference on Computer graphics and interactive techniques
SIGGRAPH '94 Proceedings of the 21st 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
Sampling plausible solutions to multi-body constraint problems
Proceedings of the 27th 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
Motion capture-driven simulations that hit and react
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Real Time Responsive Animation with Personality
IEEE Transactions on Visualization and Computer Graphics
Planning biped locomotion using motion capture data and probabilistic roadmaps
ACM Transactions on Graphics (TOG)
Automated derivation of behavior vocabularies for autonomous humanoid motion
AAMAS '03 Proceedings of the second international joint conference on Autonomous agents and multiagent systems
Precomputing interactive dynamic deformable scenes
ACM SIGGRAPH 2003 Papers
Motion Perturbation Based on Simple Neuromotor Control Models
PG '03 Proceedings of the 11th Pacific Conference on Computer Graphics and Applications
Synthesizing animations of human manipulation tasks
ACM SIGGRAPH 2004 Papers
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Dynamic response for motion capture animation
ACM SIGGRAPH 2005 Papers
Planning Algorithms
Composition of complex optimal multi-character motions
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
Many-worlds browsing for control of multibody dynamics
ACM SIGGRAPH 2007 papers
SIMBICON: simple biped locomotion control
ACM SIGGRAPH 2007 papers
Simulating biped behaviors from human motion data
ACM SIGGRAPH 2007 papers
Continuation methods for adapting simulated skills
ACM SIGGRAPH 2008 papers
Real-time control of physically based simulations using gentle forces
ACM SIGGRAPH Asia 2008 papers
Optimal gait and form for animal locomotion
ACM SIGGRAPH 2009 papers
Synchronized multi-character motion editing
ACM SIGGRAPH 2009 papers
ACM SIGGRAPH 2009 papers
Contact-aware nonlinear control of dynamic characters
ACM SIGGRAPH 2009 papers
Optimizing walking controllers
ACM SIGGRAPH Asia 2009 papers
Modeling spatial and temporal variation in motion data
ACM SIGGRAPH Asia 2009 papers
Research paper: Sampling-based robot motion planning: Towards realistic applications
Computer Science Review
Video-based 3D motion capture through biped control
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Synthesis of detailed hand manipulations using contact sampling
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
Physically plausible simulation for character animation
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Physically plausible simulation for character animation
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Video-based hand manipulation capture through composite motion control
ACM Transactions on Graphics (TOG) - SIGGRAPH 2013 Conference Proceedings
Relationship descriptors for interactive motion adaptation
Proceedings of the 12th 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
Simulation and control of skeleton-driven soft body characters
ACM Transactions on Graphics (TOG)
Data-driven control of flapping flight
ACM Transactions on Graphics (TOG)
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Human motions are the product of internal and external forces, but these forces are very difficult to measure in a general setting. Given a motion capture trajectory, we propose a method to reconstruct its open-loop control and the implicit contact forces. The method employs a strategy based on randomized sampling of the control within user-specified bounds, coupled with forward dynamics simulation. Sampling-based techniques are well suited to this task because of their lack of dependence on derivatives, which are difficult to estimate in contact-rich scenarios. They are also easy to parallelize, which we exploit in our implementation on a compute cluster. We demonstrate reconstruction of a diverse set of captured motions, including walking, running, and contact rich tasks such as rolls and kip-up jumps. We further show how the method can be applied to physically based motion transformation and retargeting, physically plausible motion variations, and reference-trajectory-free idling motions. Alongside the successes, we point out a number of limitations and directions for future work.