Issue No.04 - July/August (2011 vol.31)
Yeuhi Abe , Massachusetts Institute of Technology
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, "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