SIGGRAPH '87 Proceedings of the 14th 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
Large steps in cloth simulation
Proceedings of the 25th annual conference on Computer graphics and interactive techniques
Graphical modeling and animation of brittle fracture
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
The motion dynamics of snakes and worms
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Robust treatment of collisions, contact and friction for cloth animation
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
ACM Transactions on Graphics (TOG)
Finite volume methods for the simulation of skeletal muscle
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
Invertible finite elements for robust simulation of large deformation
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Creating and Simulating Skeletal Muscle from the Visible Human Data Set
IEEE Transactions on Visualization and Computer Graphics
Computational Optimization and Applications
Automatic determination of facial muscle activations from sparse motion capture marker data
ACM SIGGRAPH 2005 Papers
Real-Time subspace integration for St. Venant-Kirchhoff deformable models
ACM SIGGRAPH 2005 Papers
Directable animation of elastic objects
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Helping hand: an anatomically accurate inverse dynamics solution for unconstrained hand motion
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Breathe easy: model and control of human respiration for computer animation
Graphical Models - Special issue on SCA 2004
Heads up!: biomechanical modeling and neuromuscular control of the neck
ACM SIGGRAPH 2006 Papers
Velocity-based shock propagation for multibody dynamics animation
ACM Transactions on Graphics (TOG)
Multiobjective control with frictional contacts
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
Volume conserving finite element simulations of deformable models
ACM SIGGRAPH 2007 papers
A finite element method for animating large viscoplastic flow
ACM SIGGRAPH 2007 papers
TRACKS: toward directable thin shells
ACM SIGGRAPH 2007 papers
Musculotendon simulation for hand animation
ACM SIGGRAPH 2008 papers
On the Global Solution of Linear Programs with Linear Complementarity Constraints
SIAM Journal on Optimization
Laughing out loud: control for modeling anatomically inspired laughter using audio
ACM SIGGRAPH Asia 2008 papers
Real-time control of physically based simulations using gentle forces
ACM SIGGRAPH Asia 2008 papers
Staggered projections for frictional contact in multibody systems
ACM SIGGRAPH Asia 2008 papers
Optimization-based interactive motion synthesis
ACM Transactions on Graphics (TOG)
Deformable object animation using reduced optimal control
ACM SIGGRAPH 2009 papers
ACM SIGGRAPH 2009 papers
Comprehensive biomechanical modeling and simulation of the upper body
ACM Transactions on Graphics (TOG)
Skipping steps in deformable simulation with online model reduction
ACM SIGGRAPH Asia 2009 papers
Volume contact constraints at arbitrary resolution
ACM SIGGRAPH 2010 papers
Example-based elastic materials
ACM SIGGRAPH 2011 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)
Simulation and control of skeleton-driven soft body characters
ACM Transactions on Graphics (TOG)
Data-driven control of flapping flight
ACM Transactions on Graphics (TOG)
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We present a physically-based system to simulate and control the locomotion of soft body characters without skeletons. We use the finite element method to simulate the deformation of the soft body, and we instrument a character with muscle fibers to allow it to actively control its shape. To perform locomotion, we use a variety of intuitive controls such as moving a point on the character, specifying the center of mass or the angular momentum, and maintaining balance. These controllers yield an objective function that is passed to our optimization solver, which handles convex quadratic program with linear complementarity constraints. This solver determines the new muscle fiber lengths, and moreover it determines whether each point of contact should remain static, slide, or lift away from the floor. Our system can automatically find an appropriate combination of muscle contractions that enables a soft character to fulfill various locomotion tasks, including walking, jumping, crawling, rolling and balancing.