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Issue No. 02 - March/April (2010 vol. 16)
ISSN: 1077-2626
pp: 325-337
Yao-Yang Tsai , National Cheng-Kung University, Tainan
Wen-Chieh Lin , National Chiao-Tung University, Hsinchu
Tong-Yee Lee , National Cheng-Kung University, Tainan
Jehee Lee , Seoul National University, Seoul
Kuangyou B. Cheng , National Cheng-Kung University, Tainan
ABSTRACT
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.
INDEX TERMS
3D human motion, physics-based simulation, biped walk and balance, motion capture data.
CITATION
Yao-Yang Tsai, Wen-Chieh Lin, Tong-Yee Lee, Jehee Lee, Kuangyou B. Cheng, "Real-Time Physics-Based 3D Biped Character Animation Using an Inverted Pendulum Model", IEEE Transactions on Visualization & Computer Graphics, vol. 16, no. , pp. 325-337, March/April 2010, doi:10.1109/TVCG.2009.76
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