Momentum-Mapped Inverted Pendulum Models for Controlling Dynamic Human Motions
- Authors
- Kwon, Taesoo; Hodgins, Jessica K.
- Issue Date
- Feb-2017
- Publisher
- ASSOC COMPUTING MACHINERY
- Keywords
- Experimentation; Human Factors; Character animation; motion capture and reuse; rigid body simulation
- Citation
- ACM TRANSACTIONS ON GRAPHICS, v.36, no.1, pp.1 - 14
- Indexed
- SCIE
SCOPUS
- Journal Title
- ACM TRANSACTIONS ON GRAPHICS
- Volume
- 36
- Number
- 1
- Start Page
- 1
- End Page
- 14
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/152965
- DOI
- 10.1145/2983616
- ISSN
- 0730-0301
- Abstract
- Designing a unified framework for simulating a broad variety of human behaviors has proven to be challenging. In this article, we present an approach for control system design that can generate animations of a diverse set of behaviors including walking, running, and a variety of gymnastic behaviors. We achieve this generalization with a balancing strategy that relies on a new form of inverted pendulum model (IPM), which we call the momentummapped IPM (MMIPM). We analyze reference motion capture data in a pre-processing step to extract the motion of the MMIPM. To compute a new motion, the controller plans a desired motion, frame by frame, based on the current pendulum state and a predicted pendulum trajectory. By tracking this time-varying trajectory, the controller creates a character that dynamically balances, changes speed, makes turns, jumps, and performs gymnastic maneuvers.
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