Simulation of object and human skin formations in a grasping task
SIGGRAPH '89 Proceedings of the 16th annual conference on Computer graphics and interactive techniques
Joint-dependent local deformations for hand animation and object grasping
Proceedings on Graphics interface '88
Pose space deformation: a unified approach to shape interpolation and skeleton-driven deformation
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
Multi-weight enveloping: least-squares approximation techniques for skin animation
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
EigenSkin: real time large deformation character skinning in hardware
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Interactive skeleton-driven dynamic deformations
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Articulated body deformation from range scan data
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Building efficient, accurate character skins from examples
ACM SIGGRAPH 2003 Papers
Quasi-rigid objects in contact
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Interaction capture and synthesis
ACM SIGGRAPH 2006 Papers
Capturing and animating skin deformation in human motion
ACM SIGGRAPH 2006 Papers
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
Interactive simulation of stylized human locomotion
ACM SIGGRAPH 2008 papers
Synthesis of constrained walking skills
ACM SIGGRAPH Asia 2008 papers
Dextrous manipulation from a grasping pose
ACM SIGGRAPH 2009 papers
Contact-aware nonlinear control of dynamic characters
ACM SIGGRAPH 2009 papers
Optimizing walking controllers
ACM SIGGRAPH Asia 2009 papers
Robust physics-based locomotion using low-dimensional planning
ACM SIGGRAPH 2010 papers
Optimizing walking controllers for uncertain inputs and environments
ACM SIGGRAPH 2010 papers
Optimal feedback control for character animation using an abstract model
ACM SIGGRAPH 2010 papers
Volume contact constraints at arbitrary resolution
ACM SIGGRAPH 2010 papers
ACM SIGGRAPH 2010 papers
Generalized biped walking control
ACM SIGGRAPH 2010 papers
Direct Control of Simulated Nonhuman Characters
IEEE Computer Graphics and Applications
Fast simulation of skeleton-driven deformable body characters
ACM Transactions on Graphics (TOG)
Optimizing locomotion controllers using biologically-based actuators and objectives
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Synthesis of detailed hand manipulations using contact sampling
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Discovery of complex behaviors through contact-invariant optimization
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Interactive Character Animation Using Simulated Physics: A State-of-the-Art Review
Computer Graphics Forum
Simulation and control of skeleton-driven soft body characters
ACM Transactions on Graphics (TOG)
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In this paper, we investigate the impact of the deformable bodies on the control algorithms for physically simulated characters. We hypothesize that ignoring the effect of deformable bodies at the site of contact negatively affects the control algorithms, leading to less robust and unnatural character motions. To verify the hypothesis, we introduce a compact representation for an articulated character with deformable soft tissue and develop a practical system to simulate two-way coupling between rigid and deformable bodies in a robust and efficient manner. We then apply a few simple and widely used control algorithms, such as pose-space tracking control, Cartesian-space tracking control, and a biped controller (SIMBICON), to simulate a variety of behaviors for both full-body locomotion and hand manipulation. We conduct a series of experiments to compare our results with the motion generated by these algorithms on a character comprising only rigid bodies. The evaluation shows that the character with soft contact can withstand larger perturbations in a more noisy environment, as well as produce more realistic motion.