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- Uldarico Muico
- University of Washington
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- Yongjoon Lee
- University of Washington
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- Jovan Popović
- University of Washington and Advanced Technology Labs, Adobe Systems Incorporated
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- Zoran Popović
- University of Washington
説明
<jats:p>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.</jats:p>
収録刊行物
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- ACM Transactions on Graphics
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ACM Transactions on Graphics 28 (3), 1-9, 2009-07-27
Association for Computing Machinery (ACM)