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Pose Controlled Physically Based Motion
Author(s) -
Fattal Raanan,
Lischinski Dani
Publication year - 2006
Publication title -
computer graphics forum
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.578
H-Index - 120
eISSN - 1467-8659
pISSN - 0167-7055
DOI - 10.1111/j.1467-8659.2006.00998.x
Subject(s) - kinematics , computer science , motion (physics) , inertia , motion capture , process (computing) , character animation , simple (philosophy) , computer vision , control theory (sociology) , artificial intelligence , animation , computer animation , computer graphics (images) , control (management) , philosophy , physics , epistemology , classical mechanics , operating system
In this paper we describe a new method for generating and controlling physically‐based motion of complex articulated characters. Our goal is to create motion from scratch, where the animator provides a small amount of input and gets in return a highly detailed and physically plausible motion. Our method relieves the animator from the burden of enforcing physical plausibility, but at the same time provides full control over the internal DOFs of the articulated character via a familiar interface. Control over the global DOFs is also provided by supporting kinematic constraints. Unconstrained portions of the motion are generated in real time, since the character is driven by joint torques generated by simple feedback controllers. Although kinematic constraints are satisfied using an iterative search (shooting), this process is typically inexpensive, since it only adjusts a few DOFs at a few time instances. The low expense of the optimization, combined with the ability to generate unconstrained motions in real time yields an efficient and practical tool, which is particularly attractive for high inertia motions with a relatively small number of kinematic constraints.