Optimizing walking controllers

ACM Transactions on Graphics

Volumn 28, Issue 5, 2009, Pages

  Wang, Jack M ^a   Fleet, David J ^a   Hertzmann, Aaron ^a  

^a UNIVERSITY OF TORONTO   (Canada)

Author keywords

Controller synthesis; Human motion; Optimization; Physics based animation

Indexed keywords

BODY SHAPES; CONTROLLER SYNTHESIS; DIFFERENT SPEED; FULL BODY; HEAD MOTION; HUMAN MOTIONS; OBJECTIVE CRITERIA; OBJECTIVE FUNCTIONS; PHYSICS-BASED; PHYSICS-BASED ANIMATION; POWER MINIMIZATION; STEP LENGTH; WALKING SPEED;

ANIMATION; FLUID STRUCTURE INTERACTION; INTERACTIVE COMPUTER GRAPHICS; OPTIMIZATION;

CONTROLLERS;

EID: 77749295243     PISSN: 07300301     EISSN: 15577368     Source Type: Journal    
DOI: 10.1145/1661412.1618514     Document Type: Conference Paper

References (33)

1. ALEXANDER, R. M. 2003. Principles of Animal Locomotion. Princeton University Press.
2. ANDERSON, F. C., AND PANDY, M. G. 2001. Dynamic optimization of human walking. J. Biomech. Eng. 123, 5, 381-390.
3. COLLINS, S., RUINA, A., TEDRAKE, R., AND WISSE, M. 2005. Efficient bipedal robots based on passive-dynamic walkers. Science 307, 1082-1085.
4. COROS, S., BEAUDOIN, P., YIN, K., AND VAN DE PANNE, M. 2008. Synthesis of constrained walking skills. ACM Transactions on Graphics 27, 5 (Dec.), 113.
5. DA SILVA, M., ABE, Y., AND POPOVIĆ , J. 2008. Interactive simulation of stylized human locomotion. ACM Transactions on Graphics 27, 3 (Aug.), 82.
6. FALOUTSOS, P., VAN DE PANNE, M., AND TERZOPOULOS, D. 2001. Composable controllers for physics-based character animation. In Proc. SIGGRAPH 2001, ACM, 251-260.
7. GRZESZCZUK, R., AND TERZOPOULOS, D. 1995. Automated learning of muscle-actuated locomotion through control abstraction. In Proc. SIGGRAPH 1995, ACM, 63-70.
8. GRZESZCZUK, R., TERZOPOULOS, D., AND HINTON, G. 1998. NeuroAnimator: Fast neural network emulation and control of physics-based models. In Proc. SIGGRAPH 1998, ACM, 9-20.
9. HANSEN, N. 2006. The CMA evolution strategy: A comparing review. In Towards a New Evolutionary Computation. Advances on Estimation of Distribution Algorithms. Springer, 75-102.
10. HERR, H., AND POPOVIĆ, M. 2008. Angular momentum in human walking. J. of Exp. Biology 211, 467-481.
11. HODGINS, J. K., AND POLLARD, N. S. 1997. Adapting simulated behaviors for new characters. In Proc. SIGGRAPH 1997, ACM, 153-162.
12. KIM, J.-Y., PARK, I.-W., AND OH, J.-H. 2007. Walking control algorithm of biped humanoid robot on uneven and inclined floor. J. Intelligent and Robotic Systems 48, 4 (Apr.), 457-484.
13. KUDOH, S., KOMURA, T., AND IKEUCHI, K. 2006. Stepping motion for a human-like character to maintain balance against large perturbations. In Proc. ICRA 2006, IEEE, 2661-2666.
14. LASZLO, J., VAN DE PANNE, M., AND FIUME, E. 1996. Limit cycle control and its application to the animation of balancing and walking. In Proc. SIGGRAPH 1996, ACM, 155-162.
15. LI, Y., WANG, W., CROMPTON, R. H., AND GUNTHER, M. M. 2001. Free vertical moments and transverse forces in human walking and their role in relation to arm-swing. J. of Exp. Biology 204, 47-58.
16. LIU, C. K., HERTZMANN, A., AND POPOVIĆ, Z. 2005. Learning physics-based motion style with nonlinear inverse optimization. ACM Transactions on Graphics 24, 3 (July), 1062-1070.
17. MACCHIETTO, A., ZORDAN, V., AND SHELTON, C. R. 2009. Momentum control for balance. ACM Transactions on Graphics 28, 3 (July), 80.
18. MUICO, U., LEE, Y., POPOVIĆ, J., AND POPOVIĆ, Z. 2009. Contact-aware nonlinear control of dynamic characters. ACM Transactions on Graphics 28, 3 (July), 81.
19. MUYBRIDGE, E. 1887. Animal Locomotion. U. of Pennsylvania.
20. NOVACHECK, T. F. 1998. The biomechanics of running. Gait and Posture 7, 1 (Jan.), 77-95.
21. POZZO, T., BERTHOZ, A., AND LEFORT, L. 1990. Head stabilization during various locomotor tasks in humans. Exp. Brain Res. 82, 97-106.
22. SHARON, D., AND VAN DE PANNE, M. 2005. Synthesis of controllers for stylized planar bipedal walking. In Proc. ICRA 2005, IEEE, 2387-2392.
23. SIMS, K. 1994. Evolving virtual creatures. In Proc. SIGGRAPH 1994, ACM, 15-22.
24. SOK, K. W., KIM, M., AND LEE, J. 2007. Simulating biped behaviors from human motion data. ACM Transactions on Graphics 26, 3 (July), 107.
25. TEDRAKE, R., ZHANG, T. W., AND SEUNG, H. S. 2004. Stochastic policy gradient reinforcement learning on a simple 3D biped. In Proc. IROS 2004, vol. 3, IEEE/RSJ, 2849-2854.
26. TSAI, Y.-Y., LIN, W.-C., CHENG, K. B., LEE, J., AND LEE, T.-Y. in press. Real-time physics-based 3D biped character animation using an inverted pendulum model. IEEE Trans. on Visualization and Computer Graphics.
27. VAN DE PANNE, M., AND FIUME, E. 1993. Sensor-actuator networks. In Proc. SIGGRAPH 1993, ACM, 335-342.
28. VAN DE PANNE, M., AND LAMOURET, A. 1995. Guided optimization for balanced locomotion. In Proc. CAS 1995, EG, 165-177.
29. WAMPLER, K., AND POPOVIĆ, Z. 2009. Optimal gait and form for animal locomotion. ACM Transactions on Graphics 28, 3 (July), 60.
30. WITKIN, A., AND KASS, M. 1988. Spacetime constraints. Computer Graphics (Proc. SIGGRAPH 88) 22, 4 (Aug.), 159-168.
31. WOOTEN, W. L., AND HODGINS, J. K. 1996. Simulation of human diving. Computer Graphics Forum 15, 1 (Feb.), 3-13.
32. YIN, K., LOKEN, K., AND VAN DE PANNE, M. 2007. SIMBICON: Simple biped locomotion control. ACM Transactions on Graphics 26, 3 (July), 105.
33. YIN, K., COROS, S., BEAUDOIN, P., AND VAN DE PANNE, M. 2008. Continuation methods for adapting simulated skills. ACM Transactions on Graphics 27, 3 (Aug.), 81.