Guided Optimization for Balanced Locomotion

Panne, Michiel van de; Lamouret, Alexis

doi:10.1007/978-3-7091-9435-5_13

Cited by 46 publications

(44 citation statements)

References 24 publications

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“…The original control optimization methods in animation were applied to low-dimensional virtual characters [van de Panne and Fiume 1993;Sims 1994;van de Panne and Lamouret 1995], where the search space is much smaller than full-body walking. Grzeszczuk et al [1995;1998] demonstrate control optimization for high-dimensional marine animals, where smooth dynamics (without ground contacts) lead to smoother objective functions than for ground-based locomotion.…”

Section: Related Workmentioning

confidence: 99%

Optimizing walking controllers

2009

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This paper describes a method for optimizing the parameters of a physics-based controller for full-body, 3D walking. A modified version of the SIMBICON controller [Yin et al. 2007] is optimized for characters of varying body shape, walking speed and step length. The objective function includes terms for power minimization, angular momentum minimization, and minimal head motion, among others. Together these terms produce a number of important features of natural walking, including active toe-off, near-passive knee swing, and leg extension during swing. We explain the specific form of our objective criteria, and show the importance of each term to walking style. We demonstrate optimized controllers for walking with different speeds, variation in body shape, and in ground slope.

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Section: Related Workmentioning

confidence: 99%

Optimizing walking controllers

2009

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“…external forces, or the hand of God [van de Panne and Lamouret 1995], were used in the simulations. An example of more complicated interaction between a character and a changeable environment is shown in Figure 2 where a starfish has been trapped and is trying to escape by attempting various trials such as hitting the obstacle with a jump and lifting up the obstacle's edge with its arm.…”

Section: Resultsmentioning

confidence: 99%

Fast simulation of skeleton-driven deformable body characters

Kim

Pollard

2011

ACM Trans. Graph.

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We propose a fast physically based simulation system for skeleton-driven deformable body characters. Our system can generate realistic motions of self-propelled deformable body characters by considering the two-way interactions among the skeleton, the deformable body, and the environment in the dynamic simulation. It can also compute the passive jiggling behavior of a deformable body driven by a kinematic skeletal motion. We show that a well-coordinated combination of (1) a reduced deformable body model with nonlinear finite elements, (2) a linear-time algorithm for skeleton dynamics, and (3) explicit integration can boost simulation speed to orders of magnitude faster than existing methods, while preserving modeling accuracy as much as possible. Parallel computation on the GPU has also been implemented to obtain an additional speedup for complicated characters. Detailed discussions of our engineering decisions for speed and accuracy of the simulation system are presented in the paper. We tested our approach with a variety of skeleton-driven deformable body characters, and the tested characters were simulated in real-time or near real-time.

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“…They began from an unstable open-loop controller for walking and perturbed it to find a stable cyclic movement. van de Panne and Lamouret use external forces to maintain the attitude of an unstable walking human while guiding the optimization process towards a stable solution [van de Panne and Lamouret 1995]. We found external forces a helpful mechanism as well in the preliminary stages of designing our balance control system.…”

Section: Physically Based Humansmentioning

confidence: 92%

Motion capture-driven simulations that hit and react

Zordan

Hodgins

2002

Proceedings of the 2002 ACM SIGGRAPH/Eurographics Symposium on Computer Animation

211

142

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Controllable, reactive human motion is essential in many video games and training environments. Characters in these applications often perform tasks based on modified motion data, but response to unpredicted events is also important in order to maintain realism. We approach the problem of motion synthesis for interactive, humanlike characters by combining dynamic simulation and human motion capture data. Our control systems use trajectory tracking to follow motion capture data and a balance controller to keep the character upright while modifying sequences from a small motion library to accomplish specified tasks, such as throwing punches or swinging a racket. The system reacts to forces computed from a physical collision model by changing stiffness and damping terms. The freestanding, simulated humans respond automatically to impacts and smoothly return to tracking. We compare the resulting motion with video and recorded human data.

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Guided Optimization for Balanced Locomotion

Cited by 46 publications

References 24 publications

Optimizing walking controllers

Optimizing walking controllers

Fast simulation of skeleton-driven deformable body characters

Motion capture-driven simulations that hit and react

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