Legged robots that balance
Using dynamic analysis for realistic animation of articulated bodies
IEEE Computer Graphics and Applications
Near-real-time control of human figure models
IEEE Computer Graphics and Applications
Controlling dynamic simulation with kinematic constraints
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Goal-directed, dynamic animation of human walking
SIGGRAPH '89 Proceedings of the 16th annual conference on Computer graphics and interactive techniques
The virtual erector set: dynamic simulation with linear recursive constraint propagation
I3D '90 Proceedings of the 1990 symposium on Interactive 3D graphics
Control of a virtual actor: the roach
I3D '90 Proceedings of the 1990 symposium on Interactive 3D graphics
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
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
Machines That Walk: The Adaptive Suspension Vehicle
Machines That Walk: The Adaptive Suspension Vehicle
Robot Dynamics Algorithm
Computer Methods for Mathematical Computations
Computer Methods for Mathematical Computations
Control of walking: local control and real time systems
Control of walking: local control and real time systems
Animation of dynamic legged locomotion
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
SIGGRAPH '93 Proceedings of the 20th annual conference on Computer graphics and interactive techniques
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Planning motions with intentions
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Multi-level direction of autonomous creatures for real-time virtual environments
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
Testing control systems through dynamic simulation
Proceedings of the twelfth annual symposium on Computational geometry
The state of computer animation
ACM SIGGRAPH Computer Graphics
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Fast penetration depth computation for physically-based animation
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
A physically realistic framework for the generation of high-level animation controllers
Proceedings of the 2nd international symposium on Smart graphics
IEEE Computer Graphics and Applications
VW '00 Proceedings of the Second International Conference on Virtual Worlds
A Model of Nonverbal Communication and Interpersonal Relationship Between Virtual Actors
CA '96 Proceedings of the Computer Animation
User-Controlled Physics-Based Animation for Articulated Figures
CA '96 Proceedings of the Computer Animation
Six-degree-of-freedom haptic rendering using incremental and localized computations
Presence: Teleoperators and Virtual Environments
The ALIVE system: wireless, full-body interaction with autonomous agents
Multimedia Systems - Special issue on multimedia and multisensory virtual worlds
Incremental Penetration Depth Estimation between Convex Polytopes Using Dual-Space Expansion
IEEE Transactions on Visualization and Computer Graphics
Cybernetics and Systems Analysis
A teddy-bear-based robotic user interface
Computers in Entertainment (CIE) - Theoretical and Practical Computer Applications in Entertainment
Computational studies of human motion: part 1, tracking and motion synthesis
Foundations and Trends® in Computer Graphics and Vision
Teddy-bear based robotic user interface
Proceedings of the 2005 ACM SIGCHI International Conference on Advances in computer entertainment technology
Evolving Virtual Creatures and Catapults
Artificial Life
Impulse-Based Control of Joints and Muscles
IEEE Transactions on Visualization and Computer Graphics
Physical animation and control of simulated creatures
SG'03 Proceedings of the 3rd international conference on Smart graphics
Geometry-based muscle forces and inverse dynamics for animation
Edutainment'07 Proceedings of the 2nd international conference on Technologies for e-learning and digital entertainment
Modeling and animating myriapoda: a real-time kinematic/dynamic approach
Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Generating Responsive Life-Like Biped Characters
Proceedings of the The third workshop on Procedural Content Generation in Games
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Accurate simulation of Newtonian mechanics is essential for simulating realistic motion of joined figures. Dynamic simulation requires, however, a large amount of computation when compared to kinematic methods, and the control of dynamic figures can be quite complex. We have implemented an efficient forward dynamic simulation algorithm for articulated figures which has a computational complexity linear in the number of joints. In addition, we present a strategy for the coordination of the locomotion of a six-legged figure - a simulated insect - which has two main components: a gait controller which sequences stepping, and motor programs which control motions of the figure by the application of forces. The simulation is capable of generating gait patterns and walking phenomena observed in nature, and our simulated insect can negotiate planar and uneven terrain in a realistic manner. The motor program techniques should be generally applicable to other control problems.