Issue No.04 - July/August (2011 vol.31)
Yeuhi Abe , Massachusetts Institute of Technology
Jovan Popovi´c , Adobe Systems
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/MCG.2011.62
Tracking controllers produce realistic motion in simulations by mimicking an input motion. However, current time-indexed trackers adhere strictly to the input motion's timing, causing a lack of robustness. A new phase-indexed tracker for 2D characters can deviate from the input motion's timing. Compared to time-indexed tracking with a state-of-the-art nonlinear quadratic regulator, phase-indexed tracking can withstand force perturbations up to an order of magnitude larger. The phase-indexed controller employs motion constraints that induce a reduced dynamic for which we can design control policies that incorporate prediction.
motion constraints, tracking, character controller, animation, physical simulation, computer graphics, graphics and multimedia
Yeuhi Abe, Jovan Popovi´c, "Simulating 2D Gaits with a Phase-Indexed Tracking Controller", IEEE Computer Graphics and Applications, vol.31, no. 4, pp. 22-33, July/August 2011, doi:10.1109/MCG.2011.62