research-article

Vibration-minimizing motion retargeting for robotic characters

Authors:

Shayan Hoshyari,

Moritz BächerAuthors Info & Claims

ACM Transactions on Graphics (TOG), Volume 38, Issue 4

Article No.: 102, Pages 1 - 14

https://doi.org/10.1145/3306346.3323034

Published: 12 July 2019 Publication History

Abstract

Creating animations for robotic characters is very challenging due to the constraints imposed by their physical nature. In particular, the combination of fast motions and unavoidable structural deformations leads to mechanical oscillations that negatively affect their performances. Our goal is to automatically transfer motions created using traditional animation software to robotic characters while avoiding such artifacts. To this end, we develop an optimization-based, dynamics-aware motion retargeting system that adjusts an input motion such that visually salient low-frequency, large amplitude vibrations are suppressed. The technical core of our animation system consists of a differentiable dynamics simulator that provides constraint-based two-way coupling between rigid and flexible components. We demonstrate the efficacy of our method through experiments performed on a total of five robotic characters including a child-sized animatronic figure that features highly dynamic drumming and boxing motions.

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Cited By

Huang ZTozoni DGjoka AFerguson ZSchneider TPanozzo DZorin D(2024)Differentiable solver for time-dependent deformation problems with contactACM Transactions on Graphics10.1145/365764843:3(1-30)Online publication date: 26-Apr-2024
https://dl.acm.org/doi/10.1145/3657648
Gjoka AKnoop EBächer MZorin DPanozzo D(2024)Soft Pneumatic Actuator Design using Differentiable SimulationACM SIGGRAPH 2024 Conference Papers10.1145/3641519.3657467(1-11)Online publication date: 13-Jul-2024
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Zhang JTu ZWeng JYuan JDu B(2024)A Modular Neural Motion Retargeting System Decoupling Skeleton and Shape PerceptionIEEE Transactions on Pattern Analysis and Machine Intelligence10.1109/TPAMI.2024.338677746:10(6889-6904)Online publication date: 1-Oct-2024
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Index Terms

Vibration-minimizing motion retargeting for robotic characters
1. Computing methodologies
  1. Computer graphics
    1. Animation
      1. Physical simulation

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Published In

cover image ACM Transactions on Graphics

ACM Transactions on Graphics Volume 38, Issue 4

August 2019

1480 pages

ISSN:0730-0301

EISSN:1557-7368

DOI:10.1145/3306346

Editor:
Olga Sorkine-Hornung
ETH Zurich

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Copyright © 2019 ACM.

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Publication History

Published: 12 July 2019

Published in TOG Volume 38, Issue 4

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Cited By

Huang ZTozoni DGjoka AFerguson ZSchneider TPanozzo DZorin D(2024)Differentiable solver for time-dependent deformation problems with contactACM Transactions on Graphics10.1145/365764843:3(1-30)Online publication date: 26-Apr-2024
https://dl.acm.org/doi/10.1145/3657648
Gjoka AKnoop EBächer MZorin DPanozzo D(2024)Soft Pneumatic Actuator Design using Differentiable SimulationACM SIGGRAPH 2024 Conference Papers10.1145/3641519.3657467(1-11)Online publication date: 13-Jul-2024
https://dl.acm.org/doi/10.1145/3641519.3657467
Zhang JTu ZWeng JYuan JDu B(2024)A Modular Neural Motion Retargeting System Decoupling Skeleton and Shape PerceptionIEEE Transactions on Pattern Analysis and Machine Intelligence10.1109/TPAMI.2024.338677746:10(6889-6904)Online publication date: 1-Oct-2024
https://dl.acm.org/doi/10.1109/TPAMI.2024.3386777
Tripathi ABhagsara SSadhukhan SGopaliya S(2024)Effective Human–Robot Interaction Through Motion Retargeting ApproachRecent Advances in Machines, Mechanisms, Materials and Design10.1007/978-981-97-5423-6_44(561-568)Online publication date: 6-Oct-2024
https://doi.org/10.1007/978-981-97-5423-6_44
Maloisel GSchumacher CKnoop EGrandia RBächer M(2023)Optimal Design of Robotic Character KinematicsACM Transactions on Graphics10.1145/361840442:6(1-15)Online publication date: 5-Dec-2023
https://dl.acm.org/doi/10.1145/3618404
Hafner CBickel B(2023)The Design Space of Kirchhoff RodsACM Transactions on Graphics10.1145/360603342:5(1-20)Online publication date: 20-Sep-2023
https://dl.acm.org/doi/10.1145/3606033
Grandia RFarshidian FKnoop ESchumacher CHutter MBächer M(2023)DOC: Differentiable Optimal Control for Retargeting Motions onto Legged RobotsACM Transactions on Graphics10.1145/359245442:4(1-14)Online publication date: 26-Jul-2023
https://dl.acm.org/doi/10.1145/3592454
Ji SMeng QWang WLin ZLi TWan MZhang CGu J(2023)MSMB-GCN: Multi-scale Multi-branch Fusion Graph Convolutional Networks for 3D Human Pose Estimation2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)10.1109/ROBIO58561.2023.10354638(1-5)Online publication date: 4-Dec-2023
https://doi.org/10.1109/ROBIO58561.2023.10354638
Mamedov SAstudillo ARonzani DDecré WNoël JSwevers J(2023)An Optimal Open-Loop Strategy for Handling a Flexible Beam with a Robot Manipulator2023 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA48891.2023.10160493(3168-3174)Online publication date: 29-May-2023
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Burton JCohen K(2023)Genetic Fuzzy Passivity-Based Control Applied to a Robust Control Benchmark ProblemFuzzy Information Processing 202310.1007/978-3-031-46778-3_19(207-218)Online publication date: 25-Nov-2023
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