Optimization Control for Biped Motion Trajectory

	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
URL	查看原文
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/173211/41182
专题	复杂系统认知与决策实验室_听觉模型与认知计算
推荐引用方式 GB/T 7714	Wang YM,Wang Z,Bao GB,et al. Optimization Control for Biped Motion Trajectory[C],2014:780-785.