Real-time physics-based 3D biped character animation using an inverted pendulum model

Yao Yang Tsai, Wen Chieh Lin, Kuangyou B. Cheng, Jehee Lee, Tong Yee Lee

研究成果: Article同行評審

66 引文 斯高帕斯(Scopus)

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.

原文English
文章編號5161260
頁(從 - 到)325-337
頁數13
期刊IEEE Transactions on Visualization and Computer Graphics
16
發行號2
DOIs
出版狀態Published - 2010 3月

All Science Journal Classification (ASJC) codes

  • 軟體
  • 訊號處理
  • 電腦視覺和模式識別
  • 電腦繪圖與電腦輔助設計

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