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Issue No. 04 - July/August (2011 vol. 31)
ISSN: 0272-1716
pp: 22-33
Yeuhi Abe , Massachusetts Institute of Technology
Jovan Popovi´c , Adobe Systems
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

J. Popovi´c and Y. Abe, "Simulating 2D Gaits with a Phase-Indexed Tracking Controller," in IEEE Computer Graphics and Applications, vol. 31, no. , pp. 22-33, 2011.
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