標題: Real-Time Physics-Based 3D Biped Character Animation Using an Inverted Pendulum Model
作者: Tsai, Yao-Yang
Lin, Wen-Chieh
Cheng, Kuangyou B.
Lee, Jehee
Lee, Tong-Yee
資訊工程學系
多媒體工程研究所
Department of Computer Science
Institute of Multimedia Engineering
關鍵字: 3D human motion;physics-based simulation;biped walk and balance;motion capture data
公開日期: 1-三月-2010
摘要: We present a physics-based approach to generate 3D biped character animation that can react to dynamical environments in real time. Our approach utilizes an inverted pendulum model to online adjust the desired motion trajectory from the input motion capture data. This online adjustment produces a physically plausible motion trajectory adapted to dynamic environments, which is then used as the desired motion for the motion controllers to track in dynamics simulation. Rather than using Proportional-Derivative controllers whose parameters usually cannot be easily set, our motion tracking adopts a velocity-driven method which computes joint torques based on the desired joint angular velocities. Physically correct full-body motion of the 3D character is computed in dynamics simulation using the computed torques and dynamical model of the character. Our experiments demonstrate that tracking motion capture data with real-time response animation can be achieved easily. In addition, physically plausible motion style editing, automatic motion transition, and motion adaptation to different limb sizes can also be generated without difficulty.
URI: http://dx.doi.org/10.1109/TVCG.2009.76
http://hdl.handle.net/11536/5792
ISSN: 1077-2626
DOI: 10.1109/TVCG.2009.76
期刊: IEEE TRANSACTIONS ON VISUALIZATION AND COMPUTER GRAPHICS
Volume: 16
Issue: 2
起始頁: 325
結束頁: 337
顯示於類別:期刊論文


文件中的檔案:

  1. 000273396600013.pdf