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Synthesis of constrained walking skills

Published: 01 December 2008 Publication History

Abstract

Simulated characters in simulated worlds require simulated skills. We develop control strategies that enable physically-simulated characters to dynamically navigate environments with significant stepping constraints, such as sequences of gaps. We present a synthesis-analysis-synthesis framework for this type of problem. First, an offline optimization method is applied in order to compute example control solutions for randomly-generated example problems from the given task domain. Second, the example motions and their underlying control patterns are analyzed to build a low-dimensional step-to-step model of the dynamics. Third, this model is exploited by a planner to solve new instances of the task at interactive rates. We demonstrate real-time navigation across constrained terrain for physics-based simulations of 2D and 3D characters. Because the framework sythesizes its own example data, it can be applied to bipedal characters for which no motion data is available.

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Published In

cover image ACM Transactions on Graphics
ACM Transactions on Graphics  Volume 27, Issue 5
December 2008
552 pages
ISSN:0730-0301
EISSN:1557-7368
DOI:10.1145/1409060
Issue’s Table of Contents
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

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Publication History

Published: 01 December 2008
Published in TOG Volume 27, Issue 5

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Cited By

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  • (2020)ALLSTEPS: Curriculum‐driven Learning of Stepping Stone SkillsComputer Graphics Forum10.1111/cgf.1411539:8(213-224)Online publication date: 24-Nov-2020
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  • (2019)Motion analysis of work conditions using commercial depth cameras in real industrial conditionsDHM and Posturography10.1016/B978-0-12-816713-7.00052-0(673-682)Online publication date: 2019
  • (2018)Real-time locomotion with character-fluid interactionsProceedings of the 11th ACM SIGGRAPH Conference on Motion, Interaction and Games10.1145/3274247.3274515(1-8)Online publication date: 8-Nov-2018
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  • (2017)Learning locomotion skills using DeepRLProceedings of the ACM SIGGRAPH / Eurographics Symposium on Computer Animation10.1145/3099564.3099567(1-13)Online publication date: 28-Jul-2017
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