Title:
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Velocity based controllers for dynamic character animation
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Author:
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Lligadas Rodríguez, Xavier; Susín Sánchez, Antonio; Ramírez, Jorge E.
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Other authors:
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Universitat Politècnica de Catalunya. Departament de Matemàtica Aplicada I; Universitat Politècnica de Catalunya. MOVING - Grup de Recerca en Modelatge, Interacció i Visualització en Realitat Virtual |
Abstract:
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Dynamic character animation is a technique
used to create character movements based on
physics laws. Proportional derivative (PD)
controllers are one of the preferred techniques
in real time character simulations for driving
the state of the character from its current state
to a new target-state. In this paper is presented
an alternative approach named velocity
based controllers that are able to introduce
into the dynamical system desired limbs relative
velocities as constraints. As a result, the
presented technique takes into account all the
dynamical system to calculate the forces that
transform our character from its current state
to the target-state. This technique allows realtime
simulation, uses a straightforward parameterization
for the character muscle force capabilities
and it is robust to disturbances. The
paper shows the controllers capabilities for the
case of human gait animation. |
Subject(s):
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-Àrees temàtiques de la UPC::Matemàtiques i estadística -Sistemes dinàmics diferenciables |
Rights:
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Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
Document type:
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Article - Published version Conference Object |
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