Flexible Motion Optimization with Modulated Assistive Forces

Author:

Kim Nam Hee1,Ling Hung Yu1,Xie Zhaoming1,van de Panne Michiel1

Affiliation:

1. University of British Columbia, Vancouver, Canada

Abstract

Animated motions should be simple to direct while also being plausible. We present a flexible keyframe-based character animation system that generates plausible simulated motions for both physically-feasible and physically-infeasible motion specifications. We introduce a novel control parameterization, optimizing over internal actions, external assistive-force modulation, and keyframe timing. Our method allows for emergent behaviors between keyframes, does not require advance knowledge of contacts or exact motion timing, supports the creation of physically impossible motions, and allows for near-interactive motion creation. The use of a shooting method allows for the use of any black-box simulator. We present results for a variety of 2D and 3D characters and motions, using sparse and dense keyframes. We compare our control parameterization scheme against other possible approaches for incorporating external assistive forces.

Publisher

Association for Computing Machinery (ACM)

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications

Cited by 3 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Reference-Free Learning Bipedal Motor Skills via Assistive Force Curricula;Springer Proceedings in Advanced Robotics;2023

2. Learning High-Risk High-Precision Motion Control;Proceedings of the 15th ACM SIGGRAPH Conference on Motion, Interaction and Games;2022-11-03

3. Learning to Get Up;Special Interest Group on Computer Graphics and Interactive Techniques Conference Proceedings;2022-08-07

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