SIGGRAPH '95 Proceedings of the 22nd 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
Retargetting motion to new characters
Proceedings of the 25th annual conference on Computer graphics and interactive techniques
A hierarchical approach to interactive motion editing for human-like figures
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
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
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Interactive control of avatars animated with human motion data
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Verbs and Adverbs: Multidimensional Motion Interpolation
IEEE Computer Graphics and Applications
Efficient synthesis of physically valid human motion
ACM SIGGRAPH 2003 Papers
Synthesizing physically realistic human motion in low-dimensional, behavior-specific spaces
ACM SIGGRAPH 2004 Papers
Stumbling with optimal phase reset during gait can prevent a humanoid from falling
Biological Cybernetics
Walking Control Algorithm of Biped Humanoid Robot on Uneven and Inclined Floor
Journal of Intelligent and Robotic Systems
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
Interactive simulation of stylized human locomotion
ACM SIGGRAPH 2008 papers
Representing Rotations and Orientations in Geometric Computing
IEEE Computer Graphics and Applications
Synthesis of constrained walking skills
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
Linear Bellman combination for control of character animation
ACM SIGGRAPH 2009 papers
Optimizing walking controllers
ACM SIGGRAPH Asia 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
Introduction to data-driven animation: programming with motion capture
ACM SIGGRAPH ASIA 2010 Courses
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Motion rings for interactive gait synthesis
I3D '11 Symposium on Interactive 3D Graphics and Games
Physically-based character control in low dimensional space
MIG'10 Proceedings of the Third international conference on Motion in games
Skills-in-a-box: towards abstract models of motor skills
MIG'10 Proceedings of the Third international conference on Motion in games
Planning and synthesizing superhero motions
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
ACM SIGGRAPH 2011 Talks
Using natural vibrations to guide control for locomotion
I3D '12 Proceedings of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games
LocoTest: deploying and evaluating physics-based locomotion on multiple simulation platforms
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
Video-based 3D motion capture through biped control
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
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
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
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
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)
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)
Hybrid motion graph for character motion synthesis
Journal of Visual Languages and Computing
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We present a dynamic controller to physically simulate under-actuated three-dimensional full-body biped locomotion. Our data-driven controller takes motion capture reference data to reproduce realistic human locomotion through realtime physically based simulation. The key idea is modulating the reference trajectory continuously and seamlessly such that even a simple dynamic tracking controller can follow the reference trajectory while maintaining its balance. In our framework, biped control can be facilitated by a large array of existing data-driven animation techniques because our controller can take a stream of reference data generated on-the-fly at runtime. We demonstrate the effectiveness of our approach through examples that allow bipeds to turn, spin, and walk while steering its direction interactively.