Legged robots that balance
Interactive design of 3D computer-animated legged animal motion
IEEE Computer Graphics and Applications
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Animation of dynamic legged locomotion
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
Interactive behaviors for bipedal articulated figures
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
Numerical recipes in C (2nd ed.): the art of scientific computing
Numerical recipes in C (2nd ed.): the art of scientific computing
Simulating humans: computer graphics animation and control
Simulating humans: computer graphics animation and control
Modeling articulated figure motion with physically- and physiologically-based constraints
Modeling articulated figure motion with physically- and physiologically-based constraints
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Hierarchical kinematic behaviors for complex articulated figures
Interactive computer animation
Computational modeling for the computer animation of legged figures
SIGGRAPH '85 Proceedings of the 12th annual conference on Computer graphics and interactive techniques
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Motion Simulation: Dealing with the Ill-Conditioned Equations of Motion for Articulated Figures
IEEE Computer Graphics and Applications
Motion Control of Virtual Humans
IEEE Computer Graphics and Applications
Synthesizing animations of human manipulation tasks
ACM SIGGRAPH 2004 Papers
Methods for exploring expressive stance
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Interactive motion deformation with prioritized constraints
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Methods for exploring expressive stance
Graphical Models - Special issue on SCA 2004
Interactive motion deformation with prioritized constraints
Graphical Models - Special issue on SCA 2004
Mesh puppetry: cascading optimization of mesh deformation with inverse kinematics
ACM SIGGRAPH 2007 papers
International Journal of Computer Applications in Technology
Simulation of hemiplegic subjects' locomotion
GW'05 Proceedings of the 6th international conference on Gesture in Human-Computer Interaction and Simulation
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We present a new posture design paradigm for the positioning of complex characters. It is illustrated here on human figures. We exploit the Inverse Kinetics technique which allows the center of mass position control for postures with either single or multiple supports. For the multiple support case, we introduce a Compatible Flow model of the supporting influence. With this approach, we are able to handle continuous modification of the support distribution. By construction, Inverse Kinetics presents the same control architecture as Inverse Kinematics, and, thus, it shows equivalent computing cost and similar intuitive concepts. Furthermore, Inverse Kinetics for the center of mass and Inverse Kinematics for fixed end effectors can be combined to generate a posture displaying static balance, goal-oriented features, and an additional gravity optimization.