User-Controlled Physics-Based Animation for Articulated Figures

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Center for Human Modeling and Simulation
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Metaxas, Dimitris
Kokkevis, Evangelos
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We present a physics based system for the guided animation of articulate figures. Based on an efficient forward dynamics simulator, we introduce a robust feedback control scheme and fast two-stage collision response algorithm. A user of our system provides kinematic trajectories for those degrees of freedom (DOFs) of the figure they want direct control over. The output motion is fully generated using forward dynamics. The specified motion trajectories are the input to control system which computes the forces and torques that should be exerted to achieve the desired motion. The dynamic controllers, designed based on the Model Reference Adaptive Control paradigm, continuously self-adjust for optimal performance in trajectory following. Moreover, the use is given a handle on the type and speed of reaction of the figure's controlled DOFs to sudden changes in their desired motion. The overall goal of our system is to provide a platform for generating and studying realistic, user controlled motion at interactive rates. We require minimal user involvement in specifying non-intuitive parameters.

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1996-06-03
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Center for Human Modeling and Simulation
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2023-05-17T00:59:52.000
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Copyright 1996 IEEE. Reprinted from Proceedings of Computer Animation, 1996, June 1996, pages 16-26. Publisher URL: http://dx.doi.org/10.1109/CA.1996.540484. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
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