Interactive simulation of stylized human locomotion

Silva, Marco J. da; Abe, Yeuhi

doi:10.1145/1399504.1360681

Cited by 39 publications

(36 citation statements)

References 36 publications

(29 reference statements)

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“…Controllers that produce highly dynamic skills for human animation were suggested in [50], [51], [52]. The joint torques can also be computed via optimal control to approximate the motion capture data or motion data from kinematic simulators [53], [54].…”

Section: Related Workmentioning

confidence: 99%

Computational Design of Skinned Quad-Robots

Feng

Liu

Wang

et al. 2021

IEEE Trans. Visual. Comput. Graphics

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We present a computational design system that assists users to model, optimize, and fabricate quad-robots with soft skins.Our system addresses the challenging task of predicting their physical behavior by fully integrating the multibody dynamics of the mechanical skeleton and the elastic behavior of the soft skin. The developed motion control strategy uses an alternating optimization scheme to avoid expensive full space time-optimization, interleaving space-time optimization for the skeleton and frame-by-frame optimization for the full dynamics. The output are motor torques to drive the robot to achieve a user prescribed motion trajectory.We also provide a collection of convenient engineering tools and empirical manufacturing guidance to support the fabrication of the designed quad-robot. We validate the feasibility of designs generated with our system through physics simulations and with a physically-fabricated prototype.

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Section: Related Workmentioning

confidence: 99%

Computational Design of Skinned Quad-Robots

Feng

Liu

Wang

et al. 2021

IEEE Trans. Visual. Comput. Graphics

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“…During the last decade, the optimal control theory has been actively adopted to robustly track a reference motion ––. In particular, Ye et al proposed an optimal control method to replan the final time of character motion based on a low‐dimensional dynamics model .…”

Section: Related Workmentioning

confidence: 99%

Physics‐based trajectory optimization with automatic time warping

Han

Noh

Shin

2018

Computer Animation & Virtual

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This paper presents a novel online model predictive control framework based on automatic time warping. In general, existing model predictive control frameworks employ reference motions with sampling time uniform and fixed. Unlike these, our framework allows to change the sampling time of a reference motion based on physics-based simulation so that the character effectively responds to external forces unexpectedly applied to it. In order to do so, we formulate an optimal control problem, taking into account both optimal time warping and full-body dynamics simultaneously. We adopt differential dynamic programming to produce an optimal control policy by solving the problem, which is used to compute the optimal feedback information for character motion and sampling time. We show the robustness of our framework to external perturbations through experiments. We also show the effectiveness of this framework for rhythmic motion synthesis.

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“…[12] initially proposed a framework for achieving standing balance control of physically simulated characters in a given contact configuration with the environment, which allows to either target a static reference posture or to track motion capture data performed from a fixed stance. This work was followed by [15], [16] that extended it to periodic walking.…”

Section: Literature Review and Related Workmentioning

confidence: 99%

Multi-Character Physical and Behavioral Interactions Controller

Vaillant

Bouyarmane

Kheddar

2017

IEEE Trans. Visual. Comput. Graphics

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We extend the quadratic program (QP)-based task-space character control approach-initially intended for individual character animation-to multiple characters interacting among each other or with mobile/articulated elements of the environment. The interactions between the characters can be either physical interactions, such as contacts that can be established or broken at will between them and for which the forces are subjected to Newton's third law, or behavioral interactions, such as collision avoidance and cooperation that naturally emerge to achieve collaborative tasks from high-level specifications. We take a systematic approach integrating all the equations of motions of the characters, objects, and articulated environment parts in a single QP formulation in order to embrace and solve the most general instance of the problem, where independent individual character controllers would fail to account for the inherent coupling of their respective motions through those physical and behavioral interactions. Various types of motions/behaviors are controlled with only the one single formulation that we propose, and some examples of the original motions the framework allows are presented in the accompanying video.

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Interactive simulation of stylized human locomotion

Cited by 39 publications

References 36 publications

Computational Design of Skinned Quad-Robots

Computational Design of Skinned Quad-Robots

Physics‐based trajectory optimization with automatic time warping

Multi-Character Physical and Behavioral Interactions Controller

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