Goal-directed, dynamic animation of human walking
SIGGRAPH '89 Proceedings of the 16th annual conference on Computer graphics and interactive techniques
A spatial operator algebra for manipulator modeling and control
International Journal of Robotics Research
Linear-time dynamics using Lagrange multipliers
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Knowledge-driven, interactive animation of human running
GI '96 Proceedings of the conference on Graphics interface '96
View-dependent culling of dynamic systems in virtual environments
Proceedings of the 1997 symposium on Interactive 3D graphics
Simulation levels of detail for real-time animation
Proceedings of the conference on Graphics interface '97
Plausible motion simulation for computer graphics animation
Proceedings of the Eurographics workshop on Computer animation and simulation '96
Forward dynamics, elimination methods, and formulation stiffness in robot simulation
International Journal of Robotics Research
Physically based motion transformation
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Computational modeling for the computer animation of legged figures
SIGGRAPH '85 Proceedings of the 12th annual conference on Computer graphics and interactive techniques
Animating prairies in real-time
I3D '01 Proceedings of the 2001 symposium on Interactive 3D graphics
Robot Dynamics Algorithm
Real Time Responsive Animation with Personality
IEEE Transactions on Visualization and Computer Graphics
Fast Iterative Refinement of Articulated Solid Dynamics
IEEE Transactions on Visualization and Computer Graphics
IEEE Computer Graphics and Applications
User-Controlled Physics-Based Animation for Articulated Figures
CA '96 Proceedings of the Computer Animation
Modeling Hair Using Level-of-Detail Representations
CASA '03 Proceedings of the 16th International Conference on Computer Animation and Social Agents (CASA 2003)
Production and playback of human figure motion for 3D virtual environments
VRAIS '95 Proceedings of the Virtual Reality Annual International Symposium (VRAIS'95)
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
Perceptual metrics for character animation: sensitivity to errors in ballistic motion
ACM SIGGRAPH 2003 Papers
Adaptive Grouping and Subdivision for Simulating Hair Dynamics
PG '03 Proceedings of the 11th Pacific Conference on Computer Graphics and Applications
Synthesizing animations of human manipulation tasks
ACM SIGGRAPH 2004 Papers
Simulation levels of detail for plant motion
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
An efficient, error-bounded approximation algorithm for simulating quasi-statics of complex linkages
Proceedings of the 2005 ACM symposium on Solid and physical modeling
Super-helices for predicting the dynamics of natural hair
ACM SIGGRAPH 2006 Papers
Efficient collision detection for spherical blend skinning
Proceedings of the 4th international conference on Computer graphics and interactive techniques in Australasia and Southeast Asia
Adaptive dynamics of articulated bodies: implementation details
SIGGRAPH '05 ACM SIGGRAPH 2005 Sketches
Oriented strands: dynamics of stiff multi-body system
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
Cable route planning in complex environments using constrained sampling
Proceedings of the 2007 ACM symposium on Solid and physical modeling
Proceedings of the 2007 ACM symposium on Solid and physical modeling
Strands and hair: modeling, animation, and rendering
ACM SIGGRAPH 2007 courses
Impulse-Based Control of Joints and Muscles
IEEE Transactions on Visualization and Computer Graphics
Geometrically exact dynamic splines
Computer-Aided Design
Realistic hair simulation: animation and rendering
ACM SIGGRAPH 2008 classes
Stable six degrees of freedom haptic feedback for flexible ligand-protein docking
Computer-Aided Design
A robust and efficient Lagrangian constraint toolkit for the simulation of 1D structures
Computer-Aided Design
Interactive physically-based structural modeling of hydrocarbon systems
Journal of Computational Physics
Haptic puppetry for interactive games
Edutainment'06 Proceedings of the First international conference on Technologies for E-Learning and Digital Entertainment
Adaptive dynamics with hybrid response
SIGGRAPH Asia 2012 Technical Briefs
Managing Simulation Level-of-Detail with the LOD Trader
Proceedings of Motion on Games
FORK-1S: interactive compliant mechanisms with parallel state computation
Proceedings of the 18th meeting of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games
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Forward dynamics is central to physically-based simulation and control of articulated bodies. We present an adaptive algorithm for computing forward dynamics of articulated bodies: using novel motion error metrics, our algorithm can automatically simplify the dynamics of a multi-body system, based on the desired number of degrees of freedom and the location of external forces and active joint forces. We demonstrate this method in plausible animation of articulated bodies, including a large-scale simulation of 200 animated humanoids and multi-body dynamics systems with many degrees of freedom. The graceful simplification allows us to achieve up to two orders of magnitude performance improvement in several complex benchmarks.