Interactive spacetime control for animation
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Physically based motion transformation
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
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
Synthesis of complex dynamic character motion from simple animations
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
The complex-step derivative approximation
ACM Transactions on Mathematical Software (TOMS)
Efficient synthesis of physically valid human motion
ACM SIGGRAPH 2003 Papers
Synthesizing physically realistic human motion in low-dimensional, behavior-specific spaces
ACM SIGGRAPH 2004 Papers
Adaptation of performed ballistic motion
ACM Transactions on Graphics (TOG)
Learning physics-based motion style with nonlinear inverse optimization
ACM SIGGRAPH 2005 Papers
SIMBICON: simple biped locomotion control
ACM SIGGRAPH 2007 papers
Optimal gait and form for animal locomotion
ACM SIGGRAPH 2009 papers
Comprehensive biomechanical modeling and simulation of the upper body
ACM Transactions on Graphics (TOG)
Generalized biped walking control
ACM SIGGRAPH 2010 papers
Feature-based locomotion controllers
ACM SIGGRAPH 2010 papers
Optimizing locomotion controllers using biologically-based actuators and objectives
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Discovery of complex behaviors through contact-invariant optimization
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Contact-invariant optimization for hand manipulation
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Trajectory Optimization for Full-Body Movements with Complex Contacts
IEEE Transactions on Visualization and Computer Graphics
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We present a trajectory optimization approach to animating human activities that are driven by the lower body. Our approach is based on contact-invariant optimization. We develop a simplified and generalized formulation of contact-invariant optimization that enables continuous optimization over contact timings. This formulation is applied to a fully physical humanoid model whose lower limbs are actuated by musculotendon units. Our approach does not rely on prior motion data or on task-specific controllers. Motion is synthesized from first principles, given only a detailed physical model of the body and spacetime constraints. We demonstrate the approach on a variety of activities, such as walking, running, jumping, and kicking. Our approach produces walking motions that quantitatively match ground-truth data, and predicts aspects of human gait initiation, incline walking, and locomotion in reduced gravity.