SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Reconstruction and representation of 3D objects with radial basis functions
Proceedings of the 28th 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
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Interactive motion generation from examples
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Interactive control of avatars animated with human motion data
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Synthesizing physically realistic human motion in low-dimensional, behavior-specific spaces
ACM SIGGRAPH 2004 Papers
Automated extraction and parameterization of motions in large data sets
ACM SIGGRAPH 2004 Papers
User interfaces for interactive control of physics-based 3D characters
Proceedings of the 2005 symposium on Interactive 3D graphics and games
Proceedings of the 2007 symposium on Interactive 3D graphics and games
Responsive characters from motion fragments
ACM SIGGRAPH 2007 papers
Near-optimal character animation with continuous control
ACM SIGGRAPH 2007 papers
Constraint-based motion optimization using a statistical dynamic model
ACM SIGGRAPH 2007 papers
SIMBICON: simple biped locomotion control
ACM SIGGRAPH 2007 papers
Simulating biped behaviors from human motion data
ACM SIGGRAPH 2007 papers
Continuation methods for adapting simulated skills
ACM SIGGRAPH 2008 papers
Interactive simulation of stylized human locomotion
ACM SIGGRAPH 2008 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
ACM SIGGRAPH Asia 2009 papers
Robust task-based control policies for physics-based characters
ACM SIGGRAPH Asia 2009 papers
Interactive generation of human animation with deformable motion models
ACM Transactions on Graphics (TOG)
Robust physics-based locomotion using low-dimensional planning
ACM SIGGRAPH 2010 papers
Optimal feedback control for character animation using an abstract model
ACM SIGGRAPH 2010 papers
Sampling-based contact-rich motion control
ACM SIGGRAPH 2010 papers
ACM SIGGRAPH 2010 papers
Generalized biped walking control
ACM SIGGRAPH 2010 papers
Motion fields for interactive character locomotion
ACM SIGGRAPH Asia 2010 papers
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Locomotion skills for simulated quadrupeds
ACM SIGGRAPH 2011 papers
Composite control of physically simulated characters
ACM Transactions on Graphics (TOG)
Physically valid statistical models for human motion generation
ACM Transactions on Graphics (TOG)
Control of rotational dynamics for ground behaviors
Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Flexible muscle-based locomotion for bipedal creatures
ACM Transactions on Graphics (TOG)
Simulation and control of skeleton-driven soft body characters
ACM Transactions on Graphics (TOG)
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In this paper we learn the skills required by real-time physics-based avatars to perform parkour-style fast terrain crossing using a mix of running, jumping, speed-vaulting, and drop-rolling. We begin with a single motion capture example of each skill and then learn reduced-order linear feedback control laws that provide robust execution of the motions during forward dynamic simulation. We then parameterize each skill with respect to the environment, such as the height of obstacles, or with respect to the task parameters, such as running speed and direction. We employ a continuation process to achieve the required parameterization of the motions and their affine feedback laws. The continuation method uses a predictor-corrector method based on radial basis functions. Lastly, we build control laws specific to the sequential composition of different skills, so that the simulated character can robustly transition to obstacle clearing maneuvers from running whenever obstacles are encountered. The learned transition skills work in tandem with a simple online step-based planning algorithm, and together they robustly guide the character to achieve a state that is well-suited for the chosen obstacle-clearing motion.