Goal-directed, dynamic animation of human walking
SIGGRAPH '89 Proceedings of the 16th annual conference on Computer graphics and interactive techniques
Dynamic simulation of autonomous legged locomotion
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Automatic control systems (6th ed.)
Automatic control systems (6th ed.)
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
Interactive spacetime control for animation
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
Generating natural-looking motion for computer animation
Proceedings of the conference on Graphics interface '92
Simulating humans: computer graphics animation and control
Simulating humans: computer graphics animation and control
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Fast contact force computation for nonpenetrating rigid bodies
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
A modeling system based on dynamic constraints
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Collision Detection and Response for Computer Animation
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Adaptive Control: The Model Reference Approach
Adaptive Control: The Model Reference Approach
Robot Dynamics Algorithm
NPAR '00 Proceedings of the 1st international symposium on Non-photorealistic animation and rendering
Interactive control for physically-based animation
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
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
Constraint-Based Facial Animation
Constraints
Nonconvex rigid bodies with stacking
ACM SIGGRAPH 2003 Papers
Adaptive dynamics of articulated bodies
ACM SIGGRAPH 2005 Papers
Multi Level Control of Cognitive Characters in Virtual Environments
Proceedings of the 14th IEEE Visualization 2003 (VIS'03)
Dynamic Simulation of Articulated Rigid Bodies with Contact and Collision
IEEE Transactions on Visualization and Computer Graphics
A spring model for whole-hand virtual grasping
Presence: Teleoperators and Virtual Environments - Special issue: IEEE VR 2005
Impulse-Based Control of Joints and Muscles
IEEE Transactions on Visualization and Computer Graphics
Animating responsive characters with dynamic constraints in near-unactuated coordinates
ACM SIGGRAPH Asia 2008 papers
Opening Doors in Motion Analysis Research
Motion in Games
Adding physical like reaction effects to skeleton-based animations using controllable pendulums
Transactions on edutainment VI
Interactive Character Animation Using Simulated Physics: A State-of-the-Art Review
Computer Graphics Forum
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We present a physics-based system for the guided animation of articulated figures. Based on an efficient forward dynamics simulator, we introduce a robust feedback control scheme and a fast two-stage collision response algorithm. A user of our system provides kinematic trajectories for those degrees of freedom (DOFs) of the figure they want direct control over. The output motion is fully generated using forward dynamics. The specified motion trajectories are the input to a control system which computes the forces and torques that should be exerted to achieve the desired motion. The dynamic controllers, designed based on the Model Reference Adaptive Control paradigm, continuously self-adjust for optimal performance in trajectory following. Moreover, the user is given a handle on the type and speed of reaction of the figure's controlled DOFs to sudden changes in their desired motion. The overall goal of our system is to provide a platform for generating and studying realistic, user controlled motion at interactive rates. We require minimal user involvement in specifying non-intuitive parameters.