Animation of dynamic legged locomotion
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
Journal of the ACM (JACM)
Inverse kinematics positioning using nonlinear programming for highly articulated figures
ACM Transactions on Graphics (TOG)
Motion editing with spacetime constraints
Proceedings of the 1997 symposium on Interactive 3D graphics
Synthesizing realistic facial expressions from photographs
Proceedings of the 25th annual conference on Computer graphics and interactive techniques
Interactive manipulation of rigid body simulations
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Modeling tension and relaxation for computer animation
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Motion capture-driven simulations that hit and react
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
DyRT: dynamic response textures for real time deformation simulation with graphics hardware
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Interactive skeleton-driven dynamic deformations
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Keyframe control of smoke simulations
ACM SIGGRAPH 2003 Papers
Motion sketching for control of rigid-body simulations
ACM Transactions on Graphics (TOG)
Motion Perturbation Based on Simple Neuromotor Control Models
PG '03 Proceedings of the 11th Pacific Conference on Computer Graphics and Applications
Fluid control using the adjoint method
ACM SIGGRAPH 2004 Papers
An inverse kinematics architecture enforcing an arbitrary number of strict priority levels
The Visual Computer: International Journal of Computer Graphics - Special section on implicit surfaces
Meshless deformations based on shape matching
ACM SIGGRAPH 2005 Papers
Dynamic response for motion capture animation
ACM SIGGRAPH 2005 Papers
Keyframe control of complex particle systems using the adjoint method
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
Interactive animation of dynamic manipulation
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
Kinodynamic skinning using volume-preserving deformations
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
On the beat!: timing and tension for dynamic characters
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
SIMBICON: simple biped locomotion control
ACM SIGGRAPH 2007 papers
Animating oscillatory motion with overlap: wiggly splines
ACM SIGGRAPH 2008 papers
Real-time control of physically based simulations using gentle forces
ACM SIGGRAPH Asia 2008 papers
Interactive synthesis of human-object interaction
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Generalized biped walking control
ACM SIGGRAPH 2010 papers
Editing dynamic human motions via momentum and force
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Performance capture with physical interaction
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Biomechanically-inspired motion path editing
SCA '11 Proceedings of the 2011 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Fast simulation of skeleton-driven deformable body characters
ACM Transactions on Graphics (TOG)
Using natural vibrations to guide control for locomotion
I3D '12 Proceedings of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games
Natural motion animation through constraining and deconstraining at will
IEEE Transactions on Visualization and Computer Graphics
Foreword: Foreword to special section on Graphics Interaction
Computers and Graphics
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We present inverse kinodynamics (IKD), an animator friendly kinematic work flow that both encapsulates short-lived dynamics and allows precise space-time constraints. Kinodynamics (KD), defines the system state at any given time as the result of a kinematic state in the recent past, physically simulated over a short time window to the present. KD is a well suited kinematic approximation to animated characters and other dynamic systems with dominant kinematic motion and short-lived dynamics. Given a dynamic system, we first choose an appropriate kinodynamic window size based on accelerations in the kinematic trajectory and the physical properties of the system. We then present an inverse kinodynamics (IKD) algorithm, where a kinodynamic system can precisely attain a set of animator constraints at specified times. Our approach solves the IKD problem iteratively, and is able to handle full pose or end effector constraints at both position and velocity level, as well as multiple constraints in close temporal proximity. Our approach can also be used to solve position and velocity constraints on passive systems attached to kinematically driven bodies. We describe both manual and automatic procedures for selecting the kinodynamic window size necessary to approximate the dynamic trajectory to a given accuracy. We demonstrate the convergence properties of our IKD approach, and give details of a typical work flow example that an animator would use to create an animation with our system. We show IKD to be a compelling approach to the direct kinematic control of character, with secondary dynamics via examples of skeletal dynamics and facial animation.