Animation of dynamic legged locomotion

Raibert, Marc H.; Hodgins, Jessica K.

doi:10.1145/122718.122755

Cited by 184 publications

(122 citation statements)

References 16 publications

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“…Raibert and Hodgins first developed controllers that enabled a biped character to run [RH91]. Their idea was to design a finite state machine based on contact states between feet and ground and then design control actions for each joint in each state.…”

Section: Prior Workmentioning

confidence: 99%

“…We employed FSMs for each strategy similar to the traditional running and walking controllers used for other biped characters [RH91,YLvdP07,Hod91]. Torques are applied to each joint using a proportional-derivative (PD) controller:…”

Section: Simulation Of Balance Recovery Responsesmentioning

confidence: 99%

“…The support leg maintains the torso attitude and keeps its stance posture [RH91,YLvdP07]. The swing leg moves forward to prepare for next step.…”

Section: Controller For Elevating Strategymentioning

confidence: 99%

See 2 more Smart Citations

Simulating balance recovery responses to trips based on biomechanical principles

Shiratori

Coley

Cham

et al. 2009

Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation

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Section: Prior Workmentioning

confidence: 99%

Section: Simulation Of Balance Recovery Responsesmentioning

confidence: 99%

See 1 more Smart Citation

Simulating balance recovery responses to trips based on biomechanical principles

Shiratori

Coley

Cham

et al. 2009

Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation

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“…This approach is described as a spring loaded inverted pendulum (SLIP). The IP has been used as a calculation of balance to form the basis on which other aspects of human motion may be constructed [10,19,24,34,35,36,42]. However, as the standard IP model uses a single mass-point in its calculations there is a lack of information present to realistically represent the posture of a character.…”

Section: Inverted Pendulummentioning

confidence: 99%

Dynamic Balancing and Walking for Real-Time 3D Characters

2011

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Fig. 1. Predictive stepping and posture correction due to random force disturbances being applied to the body.Abstract. This paper describes the real-time modeling of 3D skeletal motion with balancing properties. Our goal is to mimic human responsiveness when external forces are applied to the model. To achieve this we use an inverted pendulum as a basis for achieving a self-balancing model. We demonstrate responsiveness in stepping and posture control via a simplified biped skeletal model using our technique.

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“…The work of Raibert [23] and Raibert and Hodgins [24] demonstrates an elegant and robust control solution for balanced hopping and running creatures having 1, 2, or 4 legs. Hodgins [10] uses a similar solution to control a running motion for a realistic planar human model.…”

Section: Previous Workmentioning

confidence: 99%

Guided Optimization for Balanced Locomotion

Panne

Lamouret

1995

Eurographics

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Abstract. Teaching simulated creatures how to walk and run is a challenging problem. As with a baby learning to walk, however, the task of synthesizing the necessary muscle control is simplified if an external hand to assist in maintaining balance is provided. A method of using guiding forces to allow progressive learning of control actions for balanced locomotion is presented. The process has three stages. Stage one involves using a "hand of God" to facilitate balance while the basic actions of a desired motion are learned. Stage two reduces the dependence on external guidance, yielding a more balanced motion. Where possible, a third stage removes the external guidance completely to produce a free, balanced motion. The method is applied to obtain walking motions for a simple biped and a bird-like mechanical creature, as well as walking, running, and skipping motions for a human model of realistic proportions.

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Animation of dynamic legged locomotion

Cited by 184 publications

References 16 publications

Simulating balance recovery responses to trips based on biomechanical principles

Simulating balance recovery responses to trips based on biomechanical principles

Dynamic Balancing and Walking for Real-Time 3D Characters

Guided Optimization for Balanced Locomotion

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