Motion capture-driven simulations that hit and react
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Motion Perturbation Based on Simple Neuromotor Control Models
PG '03 Proceedings of the 11th Pacific Conference on Computer Graphics and Applications
Heads up!: biomechanical modeling and neuromuscular control of the neck
ACM SIGGRAPH 2006 Papers
On the beat!: timing and tension for dynamic characters
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
Impulse-Based Control of Joints and Muscles
IEEE Transactions on Visualization and Computer Graphics
Pose control in dynamic conditions
MIG'10 Proceedings of the Third international conference on Motion in games
Stable Proportional-Derivative Controllers
IEEE Computer Graphics and Applications
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In this paper, we address certain misconceptions that have been perpetuated in the animation practice and research for quite some time related to the proportional-derivative (PD) control of physics-based systems. Because in animation we often think in terms of targeting keyframes, we tend to forget that PD control, in its simple form, has a very specific asymptotic behavior that approaches zero (or an offset) with zero velocity as time approaches infinity. We pay particular attention to the issue of introducing a "desired" or "end" velocity term in the equation of a proportional-derivative controller, and discuss how this term should be interpreted and how it relates to feedforward control rather than an end derivative problem.