Jae Eisenmann CSE 888.X14 Rick Parent
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1 Locomotion Jae Eisenmann CSE 888.X14 Rick Parent
2 Introduction Locomotion is simply how a character moves from one place to another Locomotion has always been a central issue both to robotics and computer-driven character animation
3 Passive Dynamics Robot Denise Link
4 Dynamic Legged Locomotion Marc Raibert & Jessica Hodgins SIGGRAPH 1991
5 Locomotion Topics Path & Behavior Planning Level of and methods for user control Mocap segmentation and blending Use of dynamics to create physically plausible motion
6 Locomotion Topics Path & Behavior Planning Level of and methods for user control Mocap segmentation and blending Use of dynamics to create physically plausible motion
7 Planning A 2-Stages Locomotion Planner for Digital Actors Julien Pettre, Jean-Paul Laumond, & Thierry Simeon CNRS LAAS, France SCA 2003 Automatic path planning with upper and lower body collision avoidance in a complex environment
8 Planning Link
9 Planning Autonomous Pedestrians Wei Shao & Demetri Terzopoulos NYU, Media Research Lab SIGGRAPH 2005 Autonomous path and behavior planning for characters operating individually within crowds in urban spaces
10 Planning Path planning uses the typical quad-tree and A* search methods Behavior planning ranges from simple reacting behaviors (see above) to complex mental states and action selection based on the desires of the individual
11 Planning Autonomous Pedestrian Quicktime Link Movies
12 Locomotion Topics Path & Behavior Planning Level of and methods for user control Mocap segmentation and blending Use of dynamics to create physically plausible motion
13 User Control Automating Gait Generation Harold Sun & Dimitris Metaxas University of Pennsylvania SIGGRAPH 2001 Describes a three-layered system that takes a motion path as input and provides physically accurate human walking motion with automatic gait adaptation for different landscapes and rates of path curvature
14 User Control Link MetaGait Quicktime movies
15 User Control SIMBICON: Simple Biped Locomotion Control KangKang Yin, Kevin Loken, & Michiel van de Panne University of British Columbia SIGGRAPH 2007 Describes a controller creation system based on pose control graphs, proportional derivative controllers, and feedback error learning for realtime, interactive control
16 User Control SIMBICON Quicktime movies Link
17 Locomotion Topics Path & Behavior Planning Level of and methods for user control Mocap segmentation and blending Use of dynamics to create physically plausible motion
18 Mocap Segmenation & Blending Construction & optimal search of interpolated motion graphs Alla Safonova & Jessica K. Hodgins Carnegie Mellon University SIGGRAPH 2007 Presents an anytime version of A* search to find a globally optimal solution in a motion graph that satisfies the user's specification for character motion
19 Motion Segmentation & Blending Interpolation Graphs Quicktime movie Link
20 Locomotion Topics Path & Behavior Planning Level of and methods for user control Mocap segmentation and blending Use of dynamics to create physically plausible motion
21 Dynamics Efficient Synthesis of Physically Valid Human Motion Anthony Fang & Nancy Pollard Brown University SIGGRAPH 2003 Proposes a set of objective functions & constraints that lead to analytical linear-time first derivatives for efficient, physically correct motion synthesis
22 Dynamics Synthesis of Physically Valid Motion Video Link
23 Dynamics Layered Dynamic Control for Interactive Character Swimming Po-Feng Yang, Joe Laszlo & Karan Singh University of Toronto SCA 2004 Presents a method for swim control in a dynamic environment using an interactively user-controlled target, a simplified
24 Dynamics Comparison of a real and a synthesized breast stroke
25 Dynamics Three-Layered approach to control
26 Dynamics Interactive Character Swimming Video Link
27 Concluding Discussion There is a definite trend towards new and creative uses of motion capture data The perfect balance between dynamics and motion capture seems to be the holy grail of locomotion (i.e. How do we produce new natural-looking motions using a library of segmented mocap data?) There will never be a one-size-fits-all control strategy
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