Communications of the ACM
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
A Lie group formulation of robot dynamics
International Journal of Robotics Research
Composable controllers for physics-based character animation
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Footskate cleanup for motion capture editing
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Linear-Quadratic Control: An Introduction
Linear-Quadratic Control: An Introduction
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Dynamically-Stable Motion Planning for Humanoid Robots
Autonomous Robots
Dynamically Stable Legged Locomotion (September 1985-September 1989)
Dynamically Stable Legged Locomotion (September 1985-September 1989)
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
ACM SIGGRAPH 2009 papers
Contact-aware nonlinear control of dynamic characters
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
Fast running experiments involving a humanoid robot
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Real-Time Physics-Based 3D Biped Character Animation Using an Inverted Pendulum Model
IEEE Transactions on Visualization and Computer Graphics
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
Optimal feedback control for character animation using an abstract model
ACM SIGGRAPH 2010 papers
ACM SIGGRAPH 2010 papers
Generalized biped walking control
ACM SIGGRAPH 2010 papers
Physically-based character control in low dimensional space
MIG'10 Proceedings of the Third 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
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
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
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)
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Physical simulation is often proposed as a way to generate motion for interactive characters. A simulated character has the potential to adapt to changing terrain and disturbances in a realistic and robust manner. In this paper, we present a balancing control algorithm based on a simplified dynamic model, an inverted pendulum on a cart. The simplified model lacks the degrees of freedom found in a full human model, so we analyze a captured reference motion in a preprocessing step and use that information about human running patterns to supplement the balance algorithms provided by the inverted pendulum controller. At run-time, the controller plans a desired motion at every frame based on the current estimate of the pendulum state and a predicted pendulum trajectory. By tracking this time-varying trajectory, our controller creates a running character that dynamically balances, changes speed and makes turns. The initial controller can be optimized to further improve the motion quality with an objective function that minimizes the difference between a planned desired motion and a simulated motion. We demonstrate the power of this approach by generating running motions at a variety of speeds (3 m/s to 5m/s), following a curved path, and in the presence of disturbance forces and a skipping motion.