Generalized biped walking control
ACM SIGGRAPH 2010 papers
Locomotion skills for simulated quadrupeds
ACM SIGGRAPH 2011 papers
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Computational design of mechanical characters
ACM Transactions on Graphics (TOG) - SIGGRAPH 2013 Conference Proceedings
Make it stand: balancing shapes for 3D fabrication
ACM Transactions on Graphics (TOG) - SIGGRAPH 2013 Conference Proceedings
Computational design of actuated deformable characters
ACM Transactions on Graphics (TOG) - SIGGRAPH 2013 Conference Proceedings
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Computer graphics techniques allow artists to realize their imaginative visions, leading to immersive virtual worlds that capture the imagination of audiences world-wide. And now, thanks to advancements in rapid manufacturing devices, tangible links between these vivid virtual worlds and our own can be created. But in order to unleash the full potential of this technology, a key challenge lies in determining the fundamental principles and design paradigms that allow digital content to be processed into forms that are suitable for fabrication. A particularly challenging task is that of creating physical representations of animated virtual characters. This paper discusses several techniques that can be applied towards this goal. In particular, a method for controlling the deformation behavior of real-world objects is described, and a computational design system that allows casual users to create animated mechanical characters is presented. In addition, this paper shows that control algorithms developed for physics-based character animation can also be applied to legged robots, allowing them to move with skill and purpose.