Intelligence as adaptive behavior: an experiment in computational neuroethology
Intelligence as adaptive behavior: an experiment in computational neuroethology
Dynamic simulation of autonomous legged locomotion
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Rapid, stable fluid dynamics for computer graphics
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Animation of dynamic legged locomotion
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
A distributed neural network architecture for hexapod robot locomotion
Neural Computation
Artificial fishes: physics, locomotion, perception, behavior
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Automated learning of muscle-actuated locomotion through control abstraction
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
A modular network for legged locomotion
Physica D
Walknet—a biologically inspired network to control six-legged walking
Neural Networks - Special issue on neural control and robotics: biology and technology
Artificial life for computer graphics
Communications of the ACM
The motion dynamics of snakes and worms
SIGGRAPH '88 Proceedings of the 15th 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
Finite volume methods for the simulation of skeletal muscle
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
Hybrid simulation of deformable solids
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
Adaptive Dynamic Walking of a Quadruped Robot on Natural Ground Based on Biological Concepts
International Journal of Robotics Research
A system for the capture and synthesis of insect motion
Graphical Models
Two-way coupling of rigid and deformable bodies
Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Evolving 3d morphology and behavior by competition
Artificial Life
Real-Time Physics-Based 3D Biped Character Animation Using an Inverted Pendulum Model
IEEE Transactions on Visualization and Computer Graphics
Efficient elasticity for character skinning with contact and collisions
ACM SIGGRAPH 2011 papers
Locomotion skills for simulated quadrupeds
ACM SIGGRAPH 2011 papers
Myriapod-like ambulation of a segmented microrobot
Autonomous Robots
Optimizing locomotion controllers using biologically-based actuators and objectives
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Energetically consistent invertible elasticity
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
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Unlike two, four, six, and eight legged animals, Myriapoda---i.e., centipedes, millipedes, etc.---have been largely overlooked in the computer graphics literature. We present an artificial life framework for modeling these arthropods and animating their locomotive behavior over regular or irregular surfaces in real time with compelling physical and biological realism. Our hybrid approach combines kinematic and dynamic simulation, as well as a decentralized, distributed leg control system whose emergent behavior is suitable for animating simulated myriapoda of different morphologies with the characteristically vivid leg wave patterns of their biological counterparts. The simulated creature's antennae sense its virtual environment and the sensory information guides its adaptive behaviors, including obstacle avoidance and foraging.