Human motion control with physically plausible foot contact models
- Authors
- Kim, Jongmin; Park, Hwangpil; Lee, Jehee; Kwon, Taesoo
- Issue Date
- Jun-2015
- Publisher
- SPRINGER
- Keywords
- Physics-based simulation; Character animation; Data-driven animation
- Citation
- VISUAL COMPUTER, v.31, no.6-8, pp.883 - 891
- Indexed
- SCIE
SCOPUS
- Journal Title
- VISUAL COMPUTER
- Volume
- 31
- Number
- 6-8
- Start Page
- 883
- End Page
- 891
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/157065
- DOI
- 10.1007/s00371-015-1097-8
- ISSN
- 0178-2789
- Abstract
- The foot-to-ground contact model plays an important role in the simulation of highly dynamic motions, such as turns and kicks. In this paper, we propose a method for solving dynamically cumbersome slipping contact problems, which are frequently observed in highly dynamic motions. We employ and modify a combination of two different types of cones representing the inequality constraints of a contact model: the friction cone and the velocity cone. The friction cone makes character animation physically plausible while the velocity cone allows a character to perform a sharp turn without foot-to-ground penetration. Our system effectively simulates human behavior using an inverted pendulum on a cart (IPC) model and motion capture data. In the preprocessing step, we analyze motion capture data to extract meaningful information for the IPC model. At run-time, our system produces a physically simulated character by tracking the desired motion that is predicted by the IPC model. We formulate human motion control as a quadratic programming satisfying the proposed foot-to-ground contact constraints. Our examples show that the proposed system can produce physically plausible character animation without noticeable foot-to-ground contact artifacts.
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