SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Efficient generation of motion transitions using spacetime constraints
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Tracking and modifying human motion with dynamic simulation
ACM SIGGRAPH 99 Conference abstracts and applications
A modeling system based on dynamic constraints
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Composable controllers for physics-based character animation
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Efficient Dynamic Simulation of Robotic Mechanisms
Efficient Dynamic Simulation of Robotic Mechanisms
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
Making Complex Articulated Agents Dance
Autonomous Agents and Multi-Agent Systems
Simulation of leaping, tumbling, landing, and balancing humans
Simulation of leaping, tumbling, landing, and balancing humans
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
Dynamic response for motion capture animation
ACM SIGGRAPH 2005 Papers
Dynamic Animation and Control Environment
GI '05 Proceedings of Graphics Interface 2005
Heads up!: biomechanical modeling and neuromuscular control of the neck
ACM SIGGRAPH 2006 Papers
Impulse-based PD control for joints and muscles
ACM SIGGRAPH 2006 Sketches
Dynamo: dynamic, data-driven character control with adjustable balance
Proceedings of the 2006 ACM SIGGRAPH symposium on Videogames
Proceedings of the 2007 ACM SIGGRAPH symposium on Video games
SIMBICON: simple biped locomotion control
ACM SIGGRAPH 2007 papers
Simple Feedforward Control for Responsive Motion Capture-Driven Simulations
ISVC '08 Proceedings of the 4th International Symposium on Advances in Visual Computing
ACM SIGGRAPH 2009 papers
Simulating balance recovery responses to trips based on biomechanical principles
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Optimal feedback control for character animation using an abstract model
ACM SIGGRAPH 2010 papers
Performance capture with physical interaction
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Pose control in dynamic conditions
MIG'10 Proceedings of the Third international conference on Motion in games
Modal-space control for articulated characters
ACM Transactions on Graphics (TOG)
Adding physical like reaction effects to skeleton-based animations using controllable pendulums
Transactions on edutainment VI
Inverse kinodynamics: editing and constraining kinematic approximations of dynamic motion
Proceedings of Graphics Interface 2012
Misconceptions of PD control in animation
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Misconceptions of PD control in animation
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
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Dynamic simulation is a promising complement to kinematic motion synthesis, particularly in cases where simulated characters need to respond to unpredictable interactions. Moving beyond simple rag-doll effects, though, requires dynamic control. The main issue with dynamic control is that there are no standardized techniques that allow an animator to precisely specify the timing of the motion while still providing natural response to external disturbances. The few proposed techniques that address this problem are based on heuristically or manually tuning proportional-derivative (PD) control parameters and do not generalize easily. We propose an approach to dynamic character control that is able to honor timing constraints, to provide natural-looking motion and to allow for realistic response to perturbations. Our approach uses traditional PD control to interpolate between key-frames. The key innovation is that the parameters of the PD controllers are computed for each joint analytically. By continuously updating these parameters over time, the controller is able to respond naturally to both external perturbations and changes in the state of the character.