Momentum-Mapped Inverted Pendulum Models for Controlling Dynamic Human Motions
- Title
- Momentum-Mapped Inverted Pendulum Models for Controlling Dynamic Human Motions
- Author
- 권태수
- Keywords
- Experimentation; Human Factors; Character animation; motion capture and reuse; rigid body simulation
- Issue Date
- 2017-02
- Publisher
- ASSOC COMPUTING MACHINERY
- Citation
- ACM TRANSACTIONS ON GRAPHICS, v. 36, no. 1, Article no. 10
- Abstract
- Designing a unified framework for simulating a broad variety of human behaviors has proven to be challenging. In this article, we present an approach for control system design that can generate animations of a diverse set of behaviors including walking, running, and a variety of gymnastic behaviors. We achieve this generalization with a balancing strategy that relies on a new form of inverted pendulum model (IPM), which we call the momentummapped IPM (MMIPM). We analyze reference motion capture data in a pre-processing step to extract the motion of the MMIPM. To compute a new motion, the controller plans a desired motion, frame by frame, based on the current pendulum state and a predicted pendulum trajectory. By tracking this time-varying trajectory, the controller creates a character that dynamically balances, changes speed, makes turns, jumps, and performs gymnastic maneuvers.
- URI
- https://dl.acm.org/citation.cfm?doid=2996392.2983616https://repository.hanyang.ac.kr/handle/20.500.11754/112840
- ISSN
- 0730-0301; 1557-7368
- DOI
- 10.1145/2983616
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > COMPUTER SCIENCE(컴퓨터소프트웨어학부) > Articles
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