SIGGRAPH '95 Proceedings of the 22nd 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
Synthesis of complex dynamic character motion from simple animations
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Efficient synthesis of physically valid human motion
ACM SIGGRAPH 2003 Papers
Realistic modeling of bird flight animations
ACM SIGGRAPH 2003 Papers
Simulation of leaping, tumbling, landing, and balancing humans
Simulation of leaping, tumbling, landing, and balancing humans
Hybrid Control for Interactive Character Animation
PG '03 Proceedings of the 11th Pacific Conference on Computer Graphics and Applications
Synthesizing physically realistic human motion in low-dimensional, behavior-specific spaces
ACM SIGGRAPH 2004 Papers
Adaptation of performed ballistic motion
ACM Transactions on Graphics (TOG)
User interfaces for interactive control of physics-based 3D characters
Proceedings of the 2005 symposium on Interactive 3D graphics and games
Flipping with physics: motion editing for acrobatics
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
Contact-aware nonlinear control of dynamic characters
ACM SIGGRAPH 2009 papers
Robust task-based control policies for physics-based characters
ACM SIGGRAPH Asia 2009 papers
Safe fall: humanoid robot fall direction change through intelligent stepping and inertia shaping
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Robust physics-based locomotion using low-dimensional planning
ACM SIGGRAPH 2010 papers
Terrain-adaptive bipedal locomotion control
ACM SIGGRAPH 2010 papers
Sampling-based contact-rich motion control
ACM SIGGRAPH 2010 papers
Generalized biped walking control
ACM SIGGRAPH 2010 papers
Feature-based locomotion controllers
ACM SIGGRAPH 2010 papers
Editing dynamic human motions via momentum and force
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Articulated swimming creatures
ACM SIGGRAPH 2011 papers
Control of rotational dynamics for ground behaviors
Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Simulation and control of skeleton-driven soft body characters
ACM Transactions on Graphics (TOG)
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We introduce a new method to generate agile and natural human landing motions in real-time via physical simulation without using any mocap or pre-scripted sequences. We develop a general controller that allows the character to fall from a wide range of heights and initial speeds, continuously roll on the ground, and get back on its feet, without inducing large stress on joints at any moment. The character's motion is generated through a forward simulator and a control algorithm that consists of an airborne phase and a landing phase. During the airborne phase, the character optimizes its moment of inertia to meet the ideal relation between the landing velocity and the angle of attack, under the laws of conservation of momentum. The landing phase can be divided into three stages: impact, rolling, and getting-up. To reduce joint stress at landing, the character leverages contact forces to control linear momentum and angular momentum, resulting in a rolling motion which distributes impact over multiple body parts. We demonstrate that our control algorithm can be applied to a variety of initial conditions with different falling heights, orientations, and linear and angular velocities. Simulated results show that our algorithm can effectively create realistic action sequences comparable to real world footage of experienced freerunners.