research-article

Contact-aware nonlinear control of dynamic characters

Authors:

Uldarico Muico,

Jovan Popović,

Zoran PopovićAuthors Info & Claims

SIGGRAPH '09: ACM SIGGRAPH 2009 papers

Article No.: 81, Pages 1 - 9

https://doi.org/10.1145/1576246.1531387

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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Jensen AChatagnon TKhoshsiyar NReda DVan De Panne MPontonnier CPettré J(2023)Physical Simulation of Balance Recovery after a PushProceedings of the 16th ACM SIGGRAPH Conference on Motion, Interaction and Games10.1145/3623264.3624448(1-11)Online publication date: 15-Nov-2023
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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 Conferences

SIGGRAPH '09: ACM SIGGRAPH 2009 papers

July 2009

795 pages

ISBN:9781605587264

DOI:10.1145/1576246

Conference Chair:
Thomas Funkhouser,
Editor:
Hugues Hoppe
ACM Transactions on Graphics

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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Published: 27 July 2009

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SIGGRAPH09: Special Interest Group on Computer Graphics and Interactive Techniques Conference

August 3 - 7, 2009

Louisiana, New Orleans

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SIGGRAPH '09 Paper Acceptance Rate 78 of 439 submissions, 18%;

Overall Acceptance Rate 1,822 of 8,601 submissions, 21%

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Cited By

Wang JLuo ZYuan YLi YDai B(2024)PACER+: On-Demand Pedestrian Animation Controller in Driving Scenarios2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)10.1109/CVPR52733.2024.00075(718-728)Online publication date: 16-Jun-2024
https://doi.org/10.1109/CVPR52733.2024.00075
Jensen AChatagnon TKhoshsiyar NReda DVan De Panne MPontonnier CPettré J(2023)Physical Simulation of Balance Recovery after a PushProceedings of the 16th ACM SIGGRAPH Conference on Motion, Interaction and Games10.1145/3623264.3624448(1-11)Online publication date: 15-Nov-2023
https://dl.acm.org/doi/10.1145/3623264.3624448
Zhu QZhang HLan MHan L(2023)Neural Categorical Priors for Physics-Based Character ControlACM Transactions on Graphics10.1145/361839742:6(1-16)Online publication date: 5-Dec-2023
https://dl.acm.org/doi/10.1145/3618397
Xu PShang XZordan VKaramouzas I(2023)Composite Motion Learning with Task ControlACM Transactions on Graphics10.1145/359244742:4(1-16)Online publication date: 26-Jul-2023
https://dl.acm.org/doi/10.1145/3592447
Mamakoukas GAbraham IMurphey T(2023)Learning Stable Models for Prediction and ControlIEEE Transactions on Robotics10.1109/TRO.2022.322813039:3(2255-2275)Online publication date: Jun-2023
https://doi.org/10.1109/TRO.2022.3228130
Wang JYuan YLuo ZXie KLin DIqbal UFidler SKhamis S(2023)Learning Human Dynamics in Autonomous Driving Scenarios2023 IEEE/CVF International Conference on Computer Vision (ICCV)10.1109/ICCV51070.2023.01901(20739-20749)Online publication date: 1-Oct-2023
https://doi.org/10.1109/ICCV51070.2023.01901
Katayama SMurooka MTazaki Y(2023)Model predictive control of legged and humanoid robots: models and algorithmsAdvanced Robotics10.1080/01691864.2023.216813437:5(298-315)Online publication date: 9-Feb-2023
https://doi.org/10.1080/01691864.2023.2168134
Graule MTeeple CWood R(2022)Contact-implicit Trajectory and Grasp Planning for Soft Continuum Manipulators2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS47612.2022.9981044(9401-9408)Online publication date: 23-Oct-2022
https://doi.org/10.1109/IROS47612.2022.9981044
Fussell LBergamin KHolden D(2021)SuperTrackACM Transactions on Graphics10.1145/3478513.348052740:6(1-13)Online publication date: 10-Dec-2021
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Pandey REscolano SLegendre CHäne CBouaziz SRhemann CDebevec PFanello S(2021)Total relightingACM Transactions on Graphics10.1145/3450626.345987240:4(1-21)Online publication date: 19-Jul-2021
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