Legged robots that balance
Animation of dynamic legged locomotion
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
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Efficient synthesis of physically valid human motion
ACM SIGGRAPH 2003 Papers
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ACM SIGGRAPH 2004 Papers
Adaptation of performed ballistic motion
ACM Transactions on Graphics (TOG)
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ACM SIGGRAPH 2005 Papers
Learning physics-based motion style with nonlinear inverse optimization
ACM SIGGRAPH 2005 Papers
Dynamo: dynamic, data-driven character control with adjustable balance
Proceedings of the 2006 ACM SIGGRAPH symposium on Videogames
Walking Control Algorithm of Biped Humanoid Robot on Uneven and Inclined Floor
Journal of Intelligent and Robotic Systems
Interactive dynamic response for games
Proceedings of the 2007 ACM SIGGRAPH symposium on Video games
SIMBICON: simple biped locomotion control
ACM SIGGRAPH 2007 papers
Simulating biped behaviors from human motion data
ACM SIGGRAPH 2007 papers
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ACM SIGGRAPH 2008 papers
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ACM SIGGRAPH Asia 2008 papers
Optimizing walking controllers
ACM SIGGRAPH Asia 2009 papers
Real-Time Physics-Based 3D Biped Character Animation Using an Inverted Pendulum Model
IEEE Transactions on Visualization and Computer Graphics
Robust physics-based locomotion using low-dimensional planning
ACM SIGGRAPH 2010 papers
Generalized biped walking control
ACM SIGGRAPH 2010 papers
Generating Responsive Life-Like Biped Characters
Proceedings of the The third workshop on Procedural Content Generation in Games
Beyond keyframe animations: a controller character-based stepping approach
SIGGRAPH Asia 2013 Technical Briefs
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This paper describes the real-time modeling of 3D skeletal motion with balancing properties. Our goal is to mimic human responsiveness when external forces are applied to the model. To achieve this we use an inverted pendulum as a basis for achieving a self-balancing model. We demonstrate responsiveness in stepping and posture control via a simplified biped skeletal model using our technique.