Optimization Control for Biped Motion Trajectory
Wang YM(王雨萌); Wang Z(王政); Bao GB(鲍冠博); Xu B(徐波)
2014-07
会议名称The International Conference on Audio, Language and Image Processing (ICALIP2014)
页码780-785
会议日期2014-7-7
会议地点中国,上海
摘要Character animation is important in many applications, such as video games, movie production, and somatosensory interaction. However, it is difficult to control the locomotion of a virtual character in a dynamic environment, because bipeds are under-actuated and unstable. In this paper, we present a novel optimization strategy to improve the realism and stability of virtual character animation. Our trajectory optimization method produces lifelike motions by using the motion capture data. The method describes systematic computation of controllers that can optimize locomotion. We use center of mass (COM) control and foot control to enhance the sense of reality in physical movement, and use tracking control to maintain similarity with the reference motion. Experiment results demonstrate our approach is applicable by simulating walking motion and the optimized motion is both natural and recognizable.
关键词Character Animation Trajectory Optimization Biped Locomotion Control
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收录类别EI
语种英语
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/14540
专题数字内容技术与服务研究中心_听觉模型与认知计算
作者单位中国科学院自动化研究所
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Wang YM,Wang Z,Bao GB,et al. Optimization Control for Biped Motion Trajectory[C],2014:780-785.
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