research-article

Contact-aware nonlinear control of dynamic characters

Authors:

Uldarico Muico,

Jovan Popović,

Zoran PopovićAuthors Info & Claims

ACM Transactions on Graphics (TOG), Volume 28, Issue 3

Article No.: 81, Pages 1 - 9

https://doi.org/10.1145/1531326.1531387

Published: 27 July 2009 Publication History

Abstract

Dynamically simulated characters are difficult to control because they are underactuated---they have no direct control over their global position and orientation. In order to succeed, control policies must look ahead to determine stabilizing actions, but such planning is complicated by frequent ground contacts that produce a discontinuous search space. This paper introduces a locomotion system that generates high-quality animation of agile movements using nonlinear controllers that plan through such contact changes. We demonstrate the general applicability of this approach by emulating walking and running motions in rigid-body simulations. Then we consolidate these controllers under a higher-level planner that interactively controls the character's direction.

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Index Terms

Contact-aware nonlinear control of dynamic characters
1. Computing methodologies
  1. Computer graphics
    1. Animation

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cover image ACM Transactions on Graphics

ACM Transactions on Graphics Volume 28, Issue 3

August 2009

750 pages

ISSN:0730-0301

EISSN:1557-7368

DOI:10.1145/1531326

Issue’s Table of Contents

Copyright © 2009 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Publication History

Published: 27 July 2009

Published in TOG Volume 28, Issue 3

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Gomez-Nogales GPrieto-Martin MRomero CComino-Trinidad MRamon-Prieto POlivier AHoyet LOtaduy MPettre JCasas D(2024)Resolving Collisions in Dense 3D Crowd AnimationsACM Transactions on Graphics10.1145/368726643:5(1-14)Online publication date: 6-Sep-2024
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Jiang YWon JYe YLiu C(2023)DROP: Dynamics Responses from Human Motion Prior and Projective DynamicsSIGGRAPH Asia 2023 Conference Papers10.1145/3610548.3618175(1-11)Online publication date: 10-Dec-2023
https://dl.acm.org/doi/10.1145/3610548.3618175
Feng XLiu JWang HYang YBao HBickel BXu W(2021)Computational Design of Skinned Quad-RobotsIEEE Transactions on Visualization and Computer Graphics10.1109/TVCG.2019.295721827:6(2881-2895)Online publication date: 1-Jun-2021
https://doi.org/10.1109/TVCG.2019.2957218
Kwon TLee YVan De Panne M(2020)Fast and flexible multilegged locomotion using learned centroidal dynamicsACM Transactions on Graphics10.1145/3386569.339243239:4(46:1-46:17)Online publication date: 12-Aug-2020
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Hwang JIshii SKwon TOba S(2020)Modularized Predictive Coding-Based Online Motion Synthesis Combining Environmental Constraints and Motion-Capture DataIEEE Access10.1109/ACCESS.2020.30364498(202274-202285)Online publication date: 2020
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Yamamoto KKamioka TSugihara T(2020)Survey on model-based biped motion control for humanoid robotsAdvanced Robotics10.1080/01691864.2020.1837670(1-17)Online publication date: 2-Nov-2020
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Han DNoh JShin J(2019)On-line Motion Synthesis Using Analytically Differentiable System DynamicsJournal of the Korea Computer Graphics Society10.15701/kcgs.2019.25.3.13325:3(133-142)Online publication date: 1-Jul-2019
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Zheng YLiao SYamane K(2019)Humanoid Locomotion Control and Generation Based on Contact Wrench ConesInternational Journal of Humanoid Robotics10.1142/S021984361950021XOnline publication date: 29-Jul-2019
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