Human motion control with physically plausible foot contact models

Title
Human motion control with physically plausible foot contact models
Authors
권태수
Keywords
Physics-based simulation; Character animation; Data-driven animation
Issue Date
2015-04
Publisher
SPRINGER
Citation
VISUAL COMPUTER, v. 31, NO 6-8, Page. 883-891
Abstract
The foot-to-ground contact model plays an important role in the simulation of highly dynamic motions, such as turns and kicks. In this paper, we propose a method for solving dynamically cumbersome slipping contact problems, which are frequently observed in highly dynamic motions. We employ and modify a combination of two different types of cones representing the inequality constraints of a contact model: the friction cone and the velocity cone. The friction cone makes character animation physically plausible while the velocity cone allows a character to perform a sharp turn without foot-to-ground penetration. Our system effectively simulates human behavior using an inverted pendulum on a cart (IPC) model and motion capture data. In the preprocessing step, we analyze motion capture data to extract meaningful information for the IPC model. At run-time, our system produces a physically simulated character by tracking the desired motion that is predicted by the IPC model. We formulate human motion control as a quadratic programming satisfying the proposed foot-to-ground contact constraints. Our examples show that the proposed system can produce physically plausible character animation without noticeable foot-to-ground contact artifacts.
URI
http://link.springer.com/article/10.1007%2Fs00371-015-1097-8http://hdl.handle.net/20.500.11754/23758
ISSN
0178-2789; 1432-2315
DOI
http://dx.doi.org/10.1007/s00371-015-1097-8
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > DIVISION OF COMPUTER SCIENCES AND ENGINEERING(컴퓨터공학부) > Articles
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