Analytical methods for dynamic simulation of non-penetrating rigid bodies
SIGGRAPH '89 Proceedings of the 16th annual conference on Computer graphics and interactive techniques
Reusable motion synthesis using state-space controllers
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
Beyond keyframing: an algorithmic approach to animation
Proceedings of the conference on Graphics interface '92
SIGGRAPH '93 Proceedings of the 20th annual conference on Computer graphics and interactive techniques
Spacetime constraints revisited
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
Automated learning of muscle-actuated locomotion through control abstraction
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
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
Adapting simulated behaviors for new characters
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
NeuroAnimator: fast neural network emulation and control of physics-based models
Proceedings of the 25th 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
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
Motion capture-driven simulations that hit and react
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Efficient synthesis of physically valid human motion
ACM SIGGRAPH 2003 Papers
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
Physical Touch-Up of Human Motions
PG '03 Proceedings of the 11th Pacific Conference on Computer Graphics and Applications
Convex Optimization
Style-based inverse kinematics
ACM SIGGRAPH 2004 Papers
Synthesizing animations of human manipulation tasks
ACM SIGGRAPH 2004 Papers
Layered dynamic control for interactive character swimming
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Adaptation of performed ballistic motion
ACM Transactions on Graphics (TOG)
Dynamic response for motion capture animation
ACM SIGGRAPH 2005 Papers
Control synthesis for dynamic contact manipulation
Control synthesis for dynamic contact manipulation
Interaction capture and synthesis
ACM SIGGRAPH 2006 Papers
Interactive animation of dynamic manipulation
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
Interactive simulation of stylized human locomotion
ACM SIGGRAPH 2008 papers
Animating responsive characters with dynamic constraints in near-unactuated coordinates
ACM SIGGRAPH Asia 2008 papers
Interaction patches for multi-character animation
ACM SIGGRAPH Asia 2008 papers
Optimization-based interactive motion synthesis
ACM Transactions on Graphics (TOG)
ACM SIGGRAPH 2009 papers
Contact-aware nonlinear control of dynamic characters
ACM SIGGRAPH 2009 papers
Robust task-based control policies for physics-based characters
ACM SIGGRAPH Asia 2009 papers
Prioritized optimization for task-space control
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Robust physics-based locomotion using low-dimensional planning
ACM SIGGRAPH 2010 papers
Terrain-adaptive bipedal locomotion control
ACM SIGGRAPH 2010 papers
Optimal feedback control for character animation using an abstract model
ACM SIGGRAPH 2010 papers
Dynamic balance control following disturbance of virtual humans
ISVC'07 Proceedings of the 3rd international conference on Advances in visual computing - Volume Part I
Generalized biped walking control
ACM SIGGRAPH 2010 papers
Feature-based locomotion controllers
ACM SIGGRAPH 2010 papers
Goal-directed stepping with momentum control
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Performance capture with physical interaction
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Modal-space control for articulated characters
ACM Transactions on Graphics (TOG)
Controlling physics-based characters using soft contacts
Proceedings of the 2011 SIGGRAPH Asia Conference
Injury assessment for physics-based characters
MIG'11 Proceedings of the 4th international conference on Motion in Games
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Interactive Character Animation Using Simulated Physics: A State-of-the-Art Review
Computer Graphics Forum
Adaptive dynamics with hybrid response
SIGGRAPH Asia 2012 Technical Briefs
Task-driven posture optimization for virtual characters
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Simple data-driven control for simulated bipeds
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Task-driven posture optimization for virtual characters
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Simple data-driven control for simulated bipeds
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Control of rotational dynamics for ground behaviors
Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Optimal distribution of contact forces with inverse-dynamics control
International Journal of Robotics Research
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Standing is a fundamental skill mastered by humans and animals alike. Although easy for adults, it requires careful and deliberate manipulation of contact forces. The variation in contact configuration (e.g., standing on one foot, on uneven ground, or while holding on for support) presents a difficult challenge for interactive simulation of humans and animals, especially while performing tasks in the presence of external disturbances. We describe an analytic approach for control of standing in three-dimensional simulations based upon local optimization. At any point in time, the control system solves a quadratic program to compute actuation by maximizing the performance of multiple motion objectives subject to constraints imposed by actuation limits and contact configuration. This formulation is suitable for interactive animation and it adapts to the proportions of any character model in any non-planar, frictional contact configuration.