Articulated swimming creatures
ACM SIGGRAPH 2011 papers
Interactive Character Animation Using Simulated Physics: A State-of-the-Art Review
Computer Graphics Forum
Misconceptions of PD control in animation
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Misconceptions of PD control in animation
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
Simulation and control of skeleton-driven soft body characters
ACM Transactions on Graphics (TOG)
Technical Section: Goal directed multi-finger manipulation: Control policies and analysis
Computers and Graphics
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In computer animation, the proportional-derivative (PD) controller is a common technique for tracking characters' motion. A new formulation of the PD controller—stable PD (SPD)—allows arbitrarily high gains, even at large time steps. The key is to determine joint forces and torques while taking into account the character's positions and velocities in the next time step. SPD is stable even when combined with a physics simulator that uses simple Euler integration. SPD controllers have a variety of uses, including motion tracking in a physics simulator, keyframe interpolation with secondary motion, and constraint satisfaction for simulation.