research-article

Domain of Attraction Expansion for Physics-Based Character Control

Authors:

Mazen Al Borno,

Michiel Van De Panne,

Eugene FiumeAuthors Info & Claims

ACM Transactions on Graphics (TOG), Volume 36, Issue 2

Article No.: 17, Pages 1 - 11

https://doi.org/10.1145/3009907

Published: 29 March 2017 Publication History

Abstract

Determining effective control strategies and solutions for high-degree-of-freedom humanoid characters has been a difficult, ongoing problem. A controller is only valid for a subset of the states of the character, known as the domain of attraction (DOA). This article shows how many states that are initially outside the DOA can be brought inside it. Our first contribution is to show how DOA expansion can be performed for a high-dimensional simulated character. Our second contribution is to present an algorithm that efficiently increases the DOA using random trees that provide denser coverage than the trees produced by typical sampling-based motion-planning algorithms. The trees are constructed offline but can be queried fast enough for near-real-time control. We show the effect of DOA expansion on getting up, crouch-to-stand, jumping, and standing-twist controllers. We also show how DOA expansion can be used to connect controllers together.

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Cited By

Khoshsiyar NGou RZhou TAndrews Svan de Panne M(2024)PartwiseMPC: Interactive Control of Contact‐Guided MotionsComputer Graphics Forum10.1111/cgf.15174Online publication date: 9-Oct-2024
https://doi.org/10.1111/cgf.15174
Kim NLing HXie Zvan de Panne M(2021)Flexible Motion Optimization with Modulated Assistive ForcesProceedings of the ACM on Computer Graphics and Interactive Techniques10.1145/34801444:3(1-25)Online publication date: 27-Sep-2021
https://dl.acm.org/doi/10.1145/3480144
Tidd BCosgun ALeitner JHudson N(2021)Learning When to Switch: Composing Controllers to Traverse a Sequence of Terrain Artifacts2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS51168.2021.9636233(5144-5150)Online publication date: 27-Sep-2021
https://doi.org/10.1109/IROS51168.2021.9636233
Show More Cited By

Index Terms

Domain of Attraction Expansion for Physics-Based Character Control
1. Computing methodologies
  1. Computer graphics
    1. Animation

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Published In

cover image ACM Transactions on Graphics

ACM Transactions on Graphics Volume 36, Issue 2

April 2017

168 pages

ISSN:0730-0301

EISSN:1557-7368

DOI:10.1145/3068851

Editor:
Kavita Bala
Cornell University

Issue’s Table of Contents

Copyright © 2017 ACM.

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 29 March 2017

Accepted: 01 December 2016

Revised: 01 November 2016

Received: 01 November 2015

Published in TOG Volume 36, Issue 2

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Cited By

Khoshsiyar NGou RZhou TAndrews Svan de Panne M(2024)PartwiseMPC: Interactive Control of Contact‐Guided MotionsComputer Graphics Forum10.1111/cgf.15174Online publication date: 9-Oct-2024
https://doi.org/10.1111/cgf.15174
Kim NLing HXie Zvan de Panne M(2021)Flexible Motion Optimization with Modulated Assistive ForcesProceedings of the ACM on Computer Graphics and Interactive Techniques10.1145/34801444:3(1-25)Online publication date: 27-Sep-2021
https://dl.acm.org/doi/10.1145/3480144
Tidd BCosgun ALeitner JHudson N(2021)Learning When to Switch: Composing Controllers to Traverse a Sequence of Terrain Artifacts2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS51168.2021.9636233(5144-5150)Online publication date: 27-Sep-2021
https://doi.org/10.1109/IROS51168.2021.9636233
Kwon TLee YVan De Panne M(2020)Fast and flexible multilegged locomotion using learned centroidal dynamicsACM Transactions on Graphics10.1145/3386569.339243239:4Online publication date: 8-Jul-2020
https://doi.org/10.1145/3386569.3392432
Tonneau SFernbach PPrete APettré JMansard N(2018)2PACACM Transactions on Graphics10.1145/321377337:5(1-14)Online publication date: 23-Oct-2018
https://dl.acm.org/doi/10.1145/3213773
Kumar VHa SYamane K(2018)Improving Model-Based Balance Controllers Using Reinforcement Learning and Adaptive Sampling2018 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA.2018.8463209(7541-7547)Online publication date: May-2018
https://doi.org/10.1109/ICRA.2018.8463209

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