Legged robots that balance
Using dynamic analysis to animate articulated bodies such as humans and robots
Proceedings of Graphics Interface '85 on Computer-generated images: the state of the art
Reusable motion synthesis using state-space controllers
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Simulating humans: computer graphics animation and control
Simulating humans: computer graphics animation and control
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
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
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Adapting simulated behaviors for new characters
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
NeuroAnimator: fast neural network emulation and control of physics-based models
Proceedings of the 25th annual conference on Computer graphics and interactive techniques
A Tutorial on Support Vector Machines for Pattern Recognition
Data Mining and Knowledge Discovery
Dynamic Free-Form Deformations for Animation Synthesis
IEEE Transactions on Visualization and Computer Graphics
Simulation of leaping, tumbling, landing, and balancing humans
Simulation of leaping, tumbling, landing, and balancing humans
Composable controllers for physics-based character animation
Composable controllers for physics-based character animation
IEEE Computer Graphics and Applications
Simulation level of detail for multiagent control
Proceedings of the first international joint conference on Autonomous agents and multiagent systems: part 1
Modeling tension and relaxation for computer animation
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Motion capture-driven simulations that hit and react
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Synthesis of complex dynamic character motion from simple animations
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Integrated learning for interactive synthetic characters
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Interactive control of avatars animated with human motion data
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Behavior Combination and Swarm Programming
RoboCup 2001: Robot Soccer World Cup V
FootSee: an interactive animation system
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
Motion synthesis from annotations
ACM SIGGRAPH 2003 Papers
Realistic modeling of bird flight animations
ACM SIGGRAPH 2003 Papers
Motion Perturbation Based on Simple Neuromotor Control Models
PG '03 Proceedings of the 11th Pacific Conference on Computer Graphics and Applications
Hybrid Control for Interactive Character Animation
PG '03 Proceedings of the 11th Pacific Conference on Computer Graphics and Applications
Machine Learning for Computer Graphics: A Manifesto and Tutorial
PG '03 Proceedings of the 11th Pacific Conference on Computer Graphics and Applications
Complex character animation that combines kinematic and dynamic control
ACM SIGGRAPH 2003 Sketches & Applications
The creation of a music-driven digital violinist
Proceedings of the 12th annual ACM international conference on Multimedia
Layered dynamic control for interactive character swimming
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Precomputing avatar behavior from human motion data
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Enriching a motion collection by transplanting limbs
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
A physically-based motion retargeting filter
ACM Transactions on Graphics (TOG)
User interfaces for interactive control of physics-based 3D characters
Proceedings of the 2005 symposium on Interactive 3D graphics and games
Fast multi-level adaptation for interactive autonomous characters
ACM Transactions on Graphics (TOG)
Dynamic response for motion capture animation
ACM SIGGRAPH 2005 Papers
Learning physics-based motion style with nonlinear inverse optimization
ACM SIGGRAPH 2005 Papers
Style translation for human motion
ACM SIGGRAPH 2005 Papers
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Directable animation of elastic objects
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
AER: aesthetic exploration and refinement for expressive character animation
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Physically based grasping control from example
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Trajectory synthesis by hierarchical spatio-temporal correspondence: comparison of different methods
APGV '05 Proceedings of the 2nd symposium on Applied perception in graphics and visualization
Dynamic Animation and Control Environment
GI '05 Proceedings of Graphics Interface 2005
Hierarchical motion controllers for real-time autonomous virtual humans
Lecture Notes in Computer Science
Digital violin tutor: an integrated system for beginning violin learners
Proceedings of the 13th annual ACM international conference on Multimedia
Animation planning for virtual characters cooperation
ACM Transactions on Graphics (TOG)
Precomputing avatar behavior from human motion data
Graphical Models - Special issue on SCA 2004
Heads up!: biomechanical modeling and neuromuscular control of the neck
ACM SIGGRAPH 2006 Papers
Computational studies of human motion: part 1, tracking and motion synthesis
Foundations and Trends® in Computer Graphics and Vision
Dynamo: dynamic, data-driven character control with adjustable balance
Proceedings of the 2006 ACM SIGGRAPH symposium on Videogames
Interactive animation of dynamic manipulation
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
Composition of complex optimal multi-character motions
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
A flexible representation of controllers for physically-based animation of virtual humans
Proceedings of the 2007 ACM symposium on Applied computing
On the beat!: timing and tension for dynamic characters
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
Interactive dynamic response for games
Proceedings of the 2007 ACM SIGGRAPH symposium on Video games
Proceedings of the 2007 ACM SIGGRAPH symposium on Video games
Responsive characters from motion fragments
ACM SIGGRAPH 2007 papers
SIMBICON: simple biped locomotion control
ACM SIGGRAPH 2007 papers
Simulating biped behaviors from human motion data
ACM SIGGRAPH 2007 papers
Proceedings of the 2007 ACM symposium on Virtual reality software and technology
Impulse-Based Control of Joints and Muscles
IEEE Transactions on Visualization and Computer Graphics
Psychologically Inspired Anticipation and Dynamic Response for Impacts to the Head and Upper Body
IEEE Transactions on Visualization and Computer Graphics
Continuation methods for adapting simulated skills
ACM SIGGRAPH 2008 papers
Interactive simulation of stylized human locomotion
ACM SIGGRAPH 2008 papers
Musculotendon simulation for hand animation
ACM SIGGRAPH 2008 papers
ACM SIGGRAPH 2008 classes
Animation planning for virtual characters cooperation
ACM SIGGRAPH 2008 classes
Autonomous virtual humans and lower animals: from biomechanics to intelligence
Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 1
SmartBody: behavior realization for embodied conversational agents
Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 1
Real-time control of physically based simulations using gentle forces
ACM SIGGRAPH Asia 2008 papers
Intelligent Third-Person Control of 3D Avatar Motion
SG '07 Proceedings of the 8th international symposium on Smart Graphics
Optimization-based interactive motion synthesis
ACM Transactions on Graphics (TOG)
Simple Feedforward Control for Responsive Motion Capture-Driven Simulations
ISVC '08 Proceedings of the 4th International Symposium on Advances in Visual Computing
Contact-aware nonlinear control of dynamic characters
ACM SIGGRAPH 2009 papers
Linear Bellman combination for control of character animation
ACM SIGGRAPH 2009 papers
Comprehensive biomechanical modeling and simulation of the upper body
ACM Transactions on Graphics (TOG)
Simulating balance recovery responses to trips based on biomechanical principles
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Optimizing walking controllers
ACM SIGGRAPH Asia 2009 papers
Robust task-based control policies for physics-based characters
ACM SIGGRAPH Asia 2009 papers
Two-way coupling of rigid and deformable bodies
Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Robust physics-based locomotion using low-dimensional planning
ACM SIGGRAPH 2010 papers
Optimizing walking controllers for uncertain inputs and environments
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
Dynamic balance control following disturbance of virtual humans
ISVC'07 Proceedings of the 3rd international conference on Advances in visual computing - Volume Part I
ACM SIGGRAPH 2010 papers
Feature-based locomotion controllers
ACM SIGGRAPH 2010 papers
Comparing and evaluating real time character engines for virtual environments
Presence: Teleoperators and Virtual Environments
Automatic addition of physics components to procedural content
Proceedings of the 7th International Conference on Computer Graphics, Virtual Reality, Visualisation and Interaction in Africa
A reactive and protective character motion generation algorithm
International Journal of Computer Applications in Technology
Motion fields for interactive character locomotion
ACM SIGGRAPH Asia 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
Performance capture with physical interaction
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Simulating humans and lower animals
MIG'10 Proceedings of the Third international conference on Motion in games
Pose control in dynamic conditions
MIG'10 Proceedings of the Third international conference on Motion in games
Perception based real-time dynamic adaptation of human motions
MIG'10 Proceedings of the Third international conference on Motion in games
Articulated swimming creatures
ACM SIGGRAPH 2011 papers
Locomotion skills for simulated quadrupeds
ACM SIGGRAPH 2011 papers
Composite control of physically simulated characters
ACM Transactions on Graphics (TOG)
Modal-space control for articulated characters
ACM Transactions on Graphics (TOG)
Simulating reactive motions for motion capture animation
CGI'06 Proceedings of the 24th international conference on Advances in Computer Graphics
Key action technique for digital storytelling
ICEC'05 Proceedings of the 4th international conference on Entertainment Computing
Video motion capture for virtual characters
MDAI'05 Proceedings of the Second international conference on Modeling Decisions for Artificial Intelligence
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
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
Interactive Character Animation Using Simulated Physics: A State-of-the-Art Review
Computer Graphics Forum
Simple data-driven control for simulated bipeds
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Simple data-driven control for simulated bipeds
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Modeling and animating myriapoda: a real-time kinematic/dynamic approach
Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Animating human lower limbs using contact-invariant optimization
ACM Transactions on Graphics (TOG)
Flexible muscle-based locomotion for bipedal creatures
ACM Transactions on Graphics (TOG)
ACM Transactions on Graphics (TOG)
Generating Responsive Life-Like Biped Characters
Proceedings of the The third workshop on Procedural Content Generation in Games
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An ambitious goal in the area of physics-based computer animation is the creation of virtual actors that autonomously synthesize realistic human motions and possess a broad repertoire of lifelike motor skills. To this end, the control of dynamic, anthropomorphic figures subject to gravity and contact forces remains a difficult open problem. We propose a framework for composing controllers in order to enhance the motor abilities of such figures. A key contribution of our composition framework is an explicit model of the “pre-conditions” under which motor controllers are expected to function properly. We demonstrate controller composition with pre-conditions determined not only manually, but also automatically based on Support Vector Machine (SVM) learning theory. We evaluate our composition framework using a family of controllers capable of synthesizing basic actions such as balance, protective stepping when balance is disturbed, protective arm reactions when falling, and multiple ways of standing up after a fall. We furthermore demonstrate these basic controllers working in conjunction with more dynamic motor skills within a prototype virtual stunt-person. Our composition framework promises to enable the community of physics-based animation practitioners to easily exchange motor controllers and integrate them into dynamic characters.