Dynamic simulation of autonomous legged locomotion
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Limit cycle control and its application to the animation of balancing and walking
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Real-time inverse kinematics techniques for anthropomorphic limbs
Graphical Models and Image Processing
Synthesizing physically realistic human motion in low-dimensional, behavior-specific spaces
ACM SIGGRAPH 2004 Papers
Capture and synthesis of insect motion
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
SIMBICON: simple biped locomotion control
ACM SIGGRAPH 2007 papers
Topologically-constrained latent variable models
Proceedings of the 25th international conference on Machine learning
ACM SIGGRAPH 2008 classes
Optimal gait and form for animal locomotion
ACM SIGGRAPH 2009 papers
Optimizing walking controllers
ACM SIGGRAPH Asia 2009 papers
Articulated swimming creatures
ACM SIGGRAPH 2011 papers
Locomotion skills for simulated quadrupeds
ACM SIGGRAPH 2011 papers
Optimizing locomotion controllers using biologically-based actuators and objectives
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
CPG-Inspired Workspace Trajectory Generation and Adaptive Locomotion Control for Quadruped Robots
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Modeling and animating myriapoda: a real-time kinematic/dynamic approach
Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Creature features: online motion puppetry for non-human characters
Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation
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The motion modelling of insects is challenging because of their small size, high frequency movements and delicate dynamics model. This paper presents a novel framework which is specially tailored to synthesise this particular type of locomotion, inspired by the biological observation of the existence of Central Pattern Generator (CPG) which regulates the cyclic motion of creatures. In our method, the CPG is organically integrated with the modelling of dynamics with assistance of the abstract actuation mechanism, Virtual Model Control, to provide physically plausible results. To achieve realistic and natural motion, it is often not practical to manually set up the control parameters and we develop an automatic strategy to optimise such non-linear non-convex problem with the Covariance Matrix Adaptation which selects suitable candidates through an evolutionary process. This framework offers high level of control of characters' motion states, speed and directions, and is flexible to adapt characters' motion to perturbations and complex environments.