Good vibrations: modal dynamics for graphics and animation
SIGGRAPH '89 Proceedings of the 16th annual conference on Computer graphics and interactive techniques
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Means and Averaging in the Group of Rotations
SIAM Journal on Matrix Analysis and Applications
Verbs and Adverbs: Multidimensional Motion Interpolation
IEEE Computer Graphics and Applications
Synthesizing physically realistic human motion in low-dimensional, behavior-specific spaces
ACM SIGGRAPH 2004 Papers
Style-based inverse kinematics
ACM SIGGRAPH 2004 Papers
Geostatistical motion interpolation
ACM SIGGRAPH 2005 Papers
Model reduction for real-time fluids
ACM SIGGRAPH 2006 Papers
Intrinsic Statistics on Riemannian Manifolds: Basic Tools for Geometric Measurements
Journal of Mathematical Imaging and Vision
Geometric, variational integrators for computer animation
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
Multiobjective control with frictional contacts
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
Animating responsive characters with dynamic constraints in near-unactuated coordinates
ACM SIGGRAPH Asia 2008 papers
Optimization-based interactive motion synthesis
ACM Transactions on Graphics (TOG)
Lie group integrators for animation and control of vehicles
ACM Transactions on Graphics (TOG)
Modular bases for fluid dynamics
ACM SIGGRAPH 2009 papers
ACM SIGGRAPH 2009 papers
Robust physics-based locomotion using low-dimensional planning
ACM SIGGRAPH 2010 papers
Feature-based locomotion controllers
ACM SIGGRAPH 2010 papers
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part VI
Physically valid statistical models for human motion generation
ACM Transactions on Graphics (TOG)
Modal-space control for articulated 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
Sparse localized deformation components
ACM Transactions on Graphics (TOG)
| Hi-index | 0.00 |
This paper presents a new integration of a data-driven approach using dimension reduction and a physically-based simulation for real-time character animation. We exploit Lie group statistical analysis techniques (Principal Geodesic Analysis, PGA) to approximate the pose manifold of a motion capture sequence by a reduced set of pose geodesics. We integrate this kinematic parametrization into a physically-based animation approach of virtual characters, by using the PGA-reduced parametrization directly as generalized coordinates of a Lagrangian formulation of mechanics. In order to achieve real-time without sacrificing stability, we derive an explicit time integrator by approximating existing variational integrators. Finally, we test our approach in task-space motion control. By formulating both physical simulation and inverse kinematics time stepping schemes as two quadratic programs, we propose a features-based control algorithm that interpolates between the two metrics. This allows for an intuitive trade-off between realistic physical simulation and controllable kinematic manipulation.