Simulation of Human Motion Data using Short‐Horizon Model‐Predictive Control

Abstract

Abstract

Simulating balance recovery responses to trips based on biomechanical principles

“…Because directly tracking motion capture data does not work for unstable behaviors due to differences between the person captured and the physical model, they modified the motion capture data with displacement mapping techniques to allow the simulated character to maintain its balance [SKL07]. They accomplished this goal by using linear time-varying approximations to estimate the balance strategy of the input stylized motion and by feedback error learning [YLvdP07,dSAP08,MLPP09]. To use these techniques to simulate responses to trips, we would need to collect a fair amount of data, because there is a wide variety in the responses to a trip based on timing of collision and its severity.…”

Simple Feedforward Control for Responsive Motion Capture-Driven Simulations

“…Yin et al get around this by exploiting the repetition of cyclic motions. Da Silva et al [7] calculate a feedforward term by formulating and solving a Quadratic Programming (QP) problem. Because of the complexity of the optimization, they update the feedforward term one to two orders of magnitude more slowly than the simulation dynamics.…”

“…Zordan et al [5] used dynamic simulation to produce transitions between captured motions in order to simulate reactions to impacts. Recent papers have built controllers for tracking captured motions while maintaining balance [6,10,7].…”

“…A growing body of work proposes methods for combining these two techniques [2][3][4][5][6][7] (among others.) In 2002, Zordan and Hodgins [2] introduced feedback controllers for reactive characters capable of tracking captured motions.…”

Ball joints for Marker-less human Motion Capture

“…Therefore, we propose to use ball-and-socket joints parameterized in exponential coordinates for modeling body segments capable of arbitrary rotations, we will also refer to them as ball joints. The modeling of ball joints is interesting for medical applications [8] and computer animation [6,5], especially for the realistic interpolation of key poses as discussed in [1,7]. A more anatomical exact model of the shoulder joint was proposed by [12].…”