Task-priority based redundancy control of robot manipulators
International Journal of Robotics Research
Animation of dynamic legged locomotion
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
Fast contact force computation for nonpenetrating rigid bodies
SIGGRAPH '94 Proceedings of the 21st 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
Adapting simulated behaviors for new characters
Proceedings of the 24th 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
Efficient synthesis of physically valid human motion
ACM SIGGRAPH 2003 Papers
Nonconvex rigid bodies with stacking
ACM SIGGRAPH 2003 Papers
Simulation of leaping, tumbling, landing, and balancing humans
Simulation of leaping, tumbling, landing, and balancing humans
An inverse kinematics architecture enforcing an arbitrary number of strict priority levels
The Visual Computer: International Journal of Computer Graphics - Special section on implicit surfaces
Interactive animation of dynamic manipulation
Proceedings of the 2006 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
Rigid Body Dynamics Algorithms
Rigid Body Dynamics Algorithms
Synthesis and control of whole-body behaviors in humanoid systems
Synthesis and control of whole-body behaviors in humanoid systems
Interactive simulation of stylized human locomotion
ACM SIGGRAPH 2008 papers
Operational Space Control: A Theoretical and Empirical Comparison
International Journal of Robotics Research
Optimization-based interactive motion synthesis
ACM Transactions on Graphics (TOG)
ACM SIGGRAPH 2009 papers
Contact-aware nonlinear control of dynamic characters
ACM SIGGRAPH 2009 papers
Optimizing walking controllers
ACM SIGGRAPH Asia 2009 papers
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Prioritized optimization for task-space control
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Robust physics-based locomotion using low-dimensional planning
ACM SIGGRAPH 2010 papers
Robust physics-based locomotion using low-dimensional planning
ACM SIGGRAPH 2010 papers
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
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
Modal-space control for articulated characters
ACM Transactions on Graphics (TOG)
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
Discovery of complex behaviors through contact-invariant optimization
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Falling and landing motion control for character animation
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Synthesis of concurrent object manipulation tasks
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
Static pose reconstruction with an instrumented bouldering wall
Proceedings of the 18th ACM symposium on Virtual reality software and technology
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
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
Biologically---Inspired motion pattern design of multi---legged creatures
EvoMUSART'13 Proceedings of the Second international conference on Evolutionary and Biologically Inspired Music, Sound, Art and Design
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
Animating human lower limbs using contact-invariant optimization
ACM Transactions on Graphics (TOG)
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)
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This paper introduces an approach to control of physics-based characters based on high-level features of movement, such as center-of-mass, angular momentum, and end-effectors. Objective terms are used to control each feature, and are combined by a prioritization algorithm. We show how locomotion can be expressed in terms of a small number of features that control balance and end-effectors. This approach is used to build controllers for human balancing, standing jump, and walking. These controllers provide numerous benefits: human-like qualities such as arm-swing, heel-off, and hip-shoulder counter-rotation emerge automatically during walking; controllers are robust to changes in body parameters; control parameters and goals may be modified at run-time; control parameters apply to intuitive properties such as center-of-mass height; and controllers may be mapped onto entirely new bipeds with different topology and mass distribution, without modifications to the controller itself. No motion capture or off-line optimization process is used.