Animation of dynamic legged locomotion
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Robot Dynamics Algorithm
Momentum-based parameterization of dynamic character motion
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Velocity-based shock propagation for multibody dynamics animation
ACM Transactions on Graphics (TOG)
Flipping with physics: motion editing for acrobatics
SCA '07 Proceedings of the 2007 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
SIMBICON: simple biped locomotion control
ACM SIGGRAPH 2007 papers
Simulating biped behaviors from human motion data
ACM SIGGRAPH 2007 papers
Interactive simulation of stylized human locomotion
ACM SIGGRAPH 2008 papers
Optimal gait and form for animal locomotion
ACM SIGGRAPH 2009 papers
ACM SIGGRAPH 2009 papers
Contact-aware nonlinear control of dynamic characters
ACM SIGGRAPH 2009 papers
Linear Bellman combination for control of character animation
ACM SIGGRAPH 2009 papers
Optimizing walking controllers
ACM SIGGRAPH Asia 2009 papers
Robust physics-based locomotion using low-dimensional planning
ACM SIGGRAPH 2010 papers
Terrain-adaptive bipedal locomotion control
ACM SIGGRAPH 2010 papers
Optimal feedback control for character animation using an abstract model
ACM SIGGRAPH 2010 papers
Sampling-based contact-rich motion control
ACM SIGGRAPH 2010 papers
ACM SIGGRAPH 2010 papers
Generalized biped walking control
ACM SIGGRAPH 2010 papers
Feature-based locomotion controllers
ACM SIGGRAPH 2010 papers
Goal-directed stepping with momentum control
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Locomotion skills for simulated quadrupeds
ACM SIGGRAPH 2011 papers
Stable Proportional-Derivative Controllers
IEEE Computer Graphics and Applications
Direct Control of Simulated Nonhuman Characters
IEEE Computer Graphics and Applications
Terrain runner: control, parameterization, composition, and planning for highly dynamic motions
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Falling and landing motion control for character animation
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Simulation and control of skeleton-driven soft body characters
ACM Transactions on Graphics (TOG)
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This paper proposes a physics-based framework to generate rolling behaviors with significant rotational components. The proposed technique is a general approach for guiding coordinated action that can be layered over existing control architectures through the purposeful regulation of specific whole-body features. Namely, we apply control for rotation through the specification and execution of specific desired 'rotation indices' for whole-body orientation, angular velocity and angular momentum control. We account for the stylistic components of behaviors through reference posture control. The novelty of the described work includes control over behaviors with considerable rotational components as well as a number of characteristics useful for general control, such as flexible posture tracking and contact control planning.