SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Adapting simulated behaviors for new characters
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Physically based motion transformation
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Between MDPs and semi-MDPs: a framework for temporal abstraction in reinforcement learning
Artificial Intelligence
SIGGRAPH '88 Proceedings of the 15th 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
Practical parameterization of rotations using the exponential map
Journal of Graphics Tools
Efficient synthesis of physically valid human motion
ACM SIGGRAPH 2003 Papers
Synthesizing physically realistic human motion in low-dimensional, behavior-specific spaces
ACM SIGGRAPH 2004 Papers
Learning physics-based motion style with nonlinear inverse optimization
ACM SIGGRAPH 2005 Papers
Running in Three Dimensions: Analysis of a Point-mass Sprung-leg Model
International Journal of Robotics Research
Composition of complex optimal multi-character motions
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
SIMBICON: simple biped locomotion control
ACM SIGGRAPH 2007 papers
Continuation methods for adapting simulated skills
ACM SIGGRAPH 2008 papers
Dextrous manipulation from a grasping pose
ACM SIGGRAPH 2009 papers
Optimal gait and form for animal locomotion
ACM SIGGRAPH 2009 papers
Contact-aware nonlinear control of dynamic characters
ACM SIGGRAPH 2009 papers
Linear Bellman combination for control of character animation
ACM SIGGRAPH 2009 papers
Optimizing walking controllers
ACM SIGGRAPH Asia 2009 papers
Robust task-based control policies for physics-based characters
ACM SIGGRAPH Asia 2009 papers
Robust physics-based locomotion using low-dimensional planning
ACM SIGGRAPH 2010 papers
Terrain-adaptive bipedal locomotion control
ACM SIGGRAPH 2010 papers
Optimal feedback control for character animation using an abstract model
ACM SIGGRAPH 2010 papers
Feature-based locomotion controllers
ACM SIGGRAPH 2010 papers
Stable dynamic walking over uneven terrain
International Journal of Robotics Research
Locomotion skills for simulated quadrupeds
ACM SIGGRAPH 2011 papers
Composite control of physically simulated characters
ACM Transactions on Graphics (TOG)
Controlling physics-based characters using soft contacts
Proceedings of the 2011 SIGGRAPH Asia Conference
Contact-invariant optimization for hand manipulation
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Contact-invariant optimization for hand manipulation
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Animating human lower limbs using contact-invariant optimization
ACM Transactions on Graphics (TOG)
A direct method for trajectory optimization of rigid bodies through contact
International Journal of Robotics Research
| Hi-index | 0.00 |
We present a motion synthesis framework capable of producing a wide variety of important human behaviors that have rarely been studied, including getting up from the ground, crawling, climbing, moving heavy objects, acrobatics (hand-stands in particular), and various cooperative actions involving two characters and their manipulation of the environment. Our framework is not specific to humans, but applies to characters of arbitrary morphology and limb configuration. The approach is fully automatic and does not require domain knowledge specific to each behavior. It also does not require pre-existing examples or motion capture data. At the core of our framework is the contact-invariant optimization (CIO) method we introduce here. It enables simultaneous optimization of contact and behavior. This is done by augmenting the search space with scalar variables that indicate whether a potential contact should be active in a given phase of the movement. These auxiliary variables affect not only the cost function but also the dynamics (by enabling and disabling contact forces), and are optimized together with the movement trajectory. Additional innovations include a continuation scheme allowing helper forces at the potential contacts rather than the torso, as well as a feature-based model of physics which is particularly well-suited to the CIO framework. We expect that CIO can also be used with a full physics model, but leave that extension for future work.