Composable controllers for physics-based character animation
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Dynamic response for motion capture animation
ACM SIGGRAPH 2005 Papers
Multiobjective control with frictional contacts
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
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Subject to disturbance, a human can carry out many balance strategies, changing its posture. Virtual human animation is a challenging problem. In the present paper, we introduce a new dynamic balance control of virtual humans with multiple non coplanar frictional contacts. We formulate a constrained optimization problem (Quadratic Programming). Our virtual human can autonomously manage its balance without following imposed trajectories, in all kind of environments (floor, stairway) while being disturbed by external forces. In contrast to classical methods based on ZMP, it can use its hands to keep its balance by pressing an inclined wall. In every case, it fits its posture to ensure the best balance.