| Momentum-mapped Inverted Pendulum Models for Controlling Dynamic Human Motions | |||||||||||||
| Taesoo Kwon | Jessica K. Hodgins | ||||||||||||
| ❶ ABSTRACT | |||||||||||||
Designing a unified framework for simulating a broad variety of
human behaviors has proven to be challenging. In this paper, 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 momentum-mapped 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.
KEYWORDS character animation, motion capture and reuse, rigid-body simulation |
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| ❷ VIDEO | |||||||||||||
| ❸ DOWNLOAD | PAPER(pdf) | VIDEO(mp4) | |||||||||||
| ❹ CONTACT | |||||||||||||
●
Taesoo Kwon
taesoobear@gmail.com
● Jessica K. Hodgins jkh@cs.cmu.edu |
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