Beyond keyframing: an algorithmic approach to animation
Proceedings of the conference on Graphics interface '92
Real-time inverse kinematics techniques for anthropomorphic limbs
Graphical Models and Image Processing
Composable controllers for physics-based character animation
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Animating reactive motions for biped locomotion
Proceedings of the ACM symposium on Virtual reality software and technology
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
Optimization-based interactive motion synthesis
ACM Transactions on Graphics (TOG)
Simple Steps for Simply Stepping
ISVC '08 Proceedings of the 4th International Symposium on Advances in Visual Computing
ACM SIGGRAPH 2009 papers
Contact-aware nonlinear control of dynamic characters
ACM SIGGRAPH 2009 papers
Simulating balance recovery responses to trips based on biomechanical principles
Proceedings of the 2009 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
A hybrid interpolation scheme for footprint-driven walking synthesis
Proceedings of Graphics Interface 2011
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
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
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This paper proposes a technique for animating simulated characters to perform controlled steps. The desired step is controlled by high-level goals, namely step position and step duration. These stepping goals guide the desired time-varying values for the center of mass and the stepping foot which in turn lead to objectives dictating the desired changes in momentum and joint angles over the duration of the step. Our approach employs a multiobjective optimization to solve for joint accelerations from the objectives and uses inverse dynamics to compute joint torques. Our approach can guide a character with purposeful, directable steps for controlling careful navigation of the character's position and orientation. In addition, the same system can be used to create protective steps to prevent falling as a reaction to a disturbance. A novel supervisory routine automatically chooses when and where to step based on an analysis of the momentum conditions for the character. We contrast this approach to previous methods for step recovery using the inverted pendulum.