ACM SIGGRAPH 2009 papers
Robust task-based control policies for physics-based characters
ACM SIGGRAPH Asia 2009 papers
Optimal feedback control for character animation using an abstract model
ACM SIGGRAPH 2010 papers
Feature-based locomotion controllers
ACM SIGGRAPH 2010 papers
Goal-directed stepping with momentum control
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Centroidal dynamics of a humanoid robot
Autonomous Robots
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This paper explores the many uses of angular momentum regulation and its role in the synthesis of coordinated motion generated with physically based characters. Previous investigations in biomechanics, robotics, and animation are discussed and a straightforward organization is described for distinguishing the needs and control approaches of various behaviors including stepping, walking and standing balance. Emphasis is placed on creating robust response to large disturbances as well as on the types of characteristic movements that can be generated through the control of angular momentum.