Legged robots that balance
Animation of dynamic legged locomotion
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
Analysis of a simplified hopping robot
International Journal of Robotics Research
SIGGRAPH '93 Proceedings of the 20th annual conference on Computer graphics and interactive techniques
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Further experience with controller-based automatic motion synthesis for articulated figures
ACM Transactions on Graphics (TOG)
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
Physically based motion transformation
Proceedings of the 26th 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
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
Feedback error learning and nonlinear adaptive control
Neural Networks
Dynamic response for motion capture animation
ACM SIGGRAPH 2005 Papers
Dynamo: dynamic, data-driven character control with adjustable balance
Proceedings of the 2006 ACM SIGGRAPH symposium on Videogames
Simulating biped behaviors from human motion data
ACM SIGGRAPH 2007 papers
On the beat!: timing and tension for dynamic characters
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
Simulating biped behaviors from human motion data
ACM SIGGRAPH 2007 papers
Animating reactive motions for physics-based character animation
Proceedings of the 2008 symposium on Interactive 3D graphics and games
Continuation methods for adapting simulated skills
ACM SIGGRAPH 2008 papers
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
Synthesis of constrained walking skills
ACM SIGGRAPH Asia 2008 papers
Accelerometer-based user interfaces for the control of a physically simulated character
ACM SIGGRAPH Asia 2008 papers
Real-time control of physically based simulations using gentle forces
ACM SIGGRAPH Asia 2008 papers
Optimization-based interactive motion synthesis
ACM Transactions on Graphics (TOG)
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
Contact-aware nonlinear control of dynamic characters
ACM SIGGRAPH 2009 papers
Linear Bellman combination for control of character animation
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
Optimizing walking controllers
ACM SIGGRAPH Asia 2009 papers
Robust task-based control policies for physics-based characters
ACM SIGGRAPH Asia 2009 papers
Interactive generation of human animation with deformable motion models
ACM Transactions on Graphics (TOG)
Evolved Controllers for Simulated Locomotion
MIG '09 Proceedings of the 2nd International Workshop on Motion in Games
Physics-Based Person Tracking Using the Anthropomorphic Walker
International Journal of Computer Vision
Robust physics-based locomotion using low-dimensional planning
ACM SIGGRAPH 2010 papers
Terrain-adaptive bipedal locomotion control
ACM SIGGRAPH 2010 papers
Optimizing walking controllers for uncertain inputs and environments
ACM SIGGRAPH 2010 papers
Optimal feedback control for character animation using an abstract model
ACM SIGGRAPH 2010 papers
Sampling-based contact-rich motion control
ACM SIGGRAPH 2010 papers
ACM SIGGRAPH 2010 papers
Generalized biped walking control
ACM SIGGRAPH 2010 papers
Feature-based locomotion controllers
ACM SIGGRAPH 2010 papers
Motion fields for interactive character locomotion
ACM SIGGRAPH Asia 2010 papers
Automatic motion generation based on path editing from motion capture data
Transactions on edutainment IV
Goal-directed stepping with momentum control
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Physically-based character control in low dimensional space
MIG'10 Proceedings of the Third international conference on Motion in games
Pose control in dynamic conditions
MIG'10 Proceedings of the Third international conference on Motion in games
Skills-in-a-box: towards abstract models of motor skills
MIG'10 Proceedings of the Third international conference on Motion in games
Perception based real-time dynamic adaptation of human motions
MIG'10 Proceedings of the Third international conference on Motion in games
Responsive action generation by physically-based motion retrieval and adaptation
MIG'10 Proceedings of the Third international conference on Motion in games
Articulated swimming creatures
ACM SIGGRAPH 2011 papers
Locomotion skills for simulated quadrupeds
ACM SIGGRAPH 2011 papers
Composite control of physically simulated characters
ACM Transactions on Graphics (TOG)
Physically valid statistical models for human motion generation
ACM Transactions on Graphics (TOG)
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
Using natural vibrations to guide control for locomotion
I3D '12 Proceedings of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games
An example-based motion synthesis technique for locomotion and object manipulation
I3D '12 Proceedings of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games
Dynamic balancing and walking for real-time 3d characters
MIG'11 Proceedings of the 4th international conference on Motion in Games
LocoTest: deploying and evaluating physics-based locomotion on multiple simulation platforms
MIG'11 Proceedings of the 4th international conference on Motion in Games
Optimizing locomotion controllers using biologically-based actuators and objectives
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Video-based 3D motion capture through biped control
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Discovery of complex behaviors through contact-invariant optimization
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Terrain runner: control, parameterization, composition, and planning for highly dynamic motions
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Falling and landing motion control for character animation
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
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
Simple data-driven control for simulated bipeds
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Physically plausible simulation for character animation
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Simple data-driven control for simulated bipeds
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Physically plausible simulation for character animation
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
PRACSYS: an extensible architecture for composing motion controllers and planners
SIMPAR'12 Proceedings of the Third international conference on Simulation, Modeling, and Programming for Autonomous Robots
ADAPT: the agent development and prototyping testbed
Proceedings of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games
Biologically---Inspired motion pattern design of multi---legged creatures
EvoMUSART'13 Proceedings of the Second international conference on Evolutionary and Biologically Inspired Music, Sound, Art and Design
Planning contact points for humanoid robots
Robotics and Autonomous Systems
Rod constraints for simplified ragdolls
Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Relationship descriptors for interactive motion adaptation
Proceedings of the 12th 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
Diverse motion variations for physics-based character animation
Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Animating human lower limbs using contact-invariant optimization
ACM Transactions on Graphics (TOG)
Flexible muscle-based locomotion for bipedal creatures
ACM Transactions on Graphics (TOG)
Simulation and control of skeleton-driven soft body characters
ACM Transactions on Graphics (TOG)
Technical Section: Goal directed multi-finger manipulation: Control policies and analysis
Computers and Graphics
Generating Responsive Life-Like Biped Characters
Proceedings of the The third workshop on Procedural Content Generation in Games
Beyond keyframe animations: a controller character-based stepping approach
SIGGRAPH Asia 2013 Technical Briefs
Hybrid motion graph for character motion synthesis
Journal of Visual Languages and Computing
| Hi-index | 0.00 |
Physics-based simulation and control of biped locomotion is difficult because bipeds are unstable, underactuated, high-dimensional dynamical systems. We develop a simple control strategy that can be used to generate a large variety of gaits and styles in real-time, including walking in all directions (forwards, backwards, sideways, turning), running, skipping, and hopping. Controllers can be authored using a small number of parameters, or their construction can be informed by motion capture data. The controllers are applied to 2D and 3D physically-simulated character models. Their robustness is demonstrated with respect to pushes in all directions, unexpected steps and slopes, and unexpected variations in kinematic and dynamic parameters. Direct transitions between controllers are demonstrated as well as parameterized control of changes in direction and speed. Feedback-error learning is applied to learn predictive torque models, which allows for the low-gain control that typifies many natural motions as well as producing smoother simulated motion.