SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Artificial fishes: physics, locomotion, perception, behavior
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Automated learning of muscle-actuated locomotion through control abstraction
SIGGRAPH '95 Proceedings of the 22nd 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
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
Realistic modeling of bird flight animations
ACM SIGGRAPH 2003 Papers
Rigid fluid: animating the interplay between rigid bodies and fluid
ACM SIGGRAPH 2004 Papers
Simulating water and smoke with an octree data structure
ACM SIGGRAPH 2004 Papers
Layered dynamic control for interactive character swimming
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Coupling water and smoke to thin deformable and rigid shells
ACM SIGGRAPH 2005 Papers
Fluid animation with dynamic meshes
ACM SIGGRAPH 2006 Papers
Advections with Significantly Reduced Dissipation and Diffusion
IEEE Transactions on Visualization and Computer Graphics
Simultaneous coupling of fluids and deformable bodies
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
The simulation of fluid-rigid body interaction
ACM SIGGRAPH 2002 conference abstracts and applications
A fast variational framework for accurate solid-fluid coupling
ACM SIGGRAPH 2007 papers
SIMBICON: simple biped locomotion control
ACM SIGGRAPH 2007 papers
Simulating biped behaviors from human motion data
ACM SIGGRAPH 2007 papers
Real-time motion retargeting to highly varied user-created morphologies
ACM SIGGRAPH 2008 papers
Two-way coupling of fluids to rigid and deformable solids and shells
ACM SIGGRAPH 2008 papers
Continuation methods for adapting simulated skills
ACM SIGGRAPH 2008 papers
Interactive simulation of stylized human locomotion
ACM SIGGRAPH 2008 papers
Optimal gait and form for animal locomotion
ACM SIGGRAPH 2009 papers
Contact-aware nonlinear control of dynamic characters
ACM SIGGRAPH 2009 papers
Fluid Simulation with Articulated Bodies
IEEE Transactions on Visualization and Computer Graphics
Matching fluid simulation elements to surface geometry and topology
ACM SIGGRAPH 2010 papers
Robust physics-based locomotion using low-dimensional planning
ACM SIGGRAPH 2010 papers
Terrain-adaptive bipedal locomotion control
ACM SIGGRAPH 2010 papers
Optimizing walking controllers for uncertain inputs and environments
ACM SIGGRAPH 2010 papers
Creature Control in a Fluid Environment
IEEE Transactions on Visualization and Computer Graphics
Stable Proportional-Derivative Controllers
IEEE Computer Graphics and Applications
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
SMI 2012: Full Curvature-based offset distance: Implementations and applications
Computers and Graphics
Falling and landing motion control for character animation
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
Flexible muscle-based locomotion for bipedal creatures
ACM Transactions on Graphics (TOG)
Data-driven control of flapping flight
ACM Transactions on Graphics (TOG)
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We present a general approach to creating realistic swimming behavior for a given articulated creature body. The two main components of our method are creature/fluid simulation and the optimization of the creature motion parameters. We simulate two-way coupling between the fluid and the articulated body by solving a linear system that matches acceleration at fluid/solid boundaries and that also enforces fluid incompressibility. The swimming motion of a given creature is described as a set of periodic functions, one for each joint degree of freedom. We optimize over the space of these functions in order to find a motion that causes the creature to swim straight and stay within a given energy budget. Our creatures can perform path following by first training appropriate turning maneuvers through offline optimization and then selecting between these motions to track the given path. We present results for a clownfish, an eel, a sea turtle, a manta ray and a frog, and in each case the resulting motion is a good match to the real-world animals. We also demonstrate a plausible swimming gait for a fictional creature that has no real-world counterpart.