Goal-Directed Stepping with Momentum Control

dc.contributor.authorWu, Chun-Chihen_US
dc.contributor.authorZordan, Victoren_US
dc.contributor.editorMZoran Popovic and Miguel Otaduyen_US
dc.date.accessioned2014-01-29T07:51:20Z
dc.date.available2014-01-29T07:51:20Z
dc.date.issued2010en_US
dc.description.abstractThis paper proposes a technique for animating simulated characters to perform controlled steps. The desired step is controlled by high-level goals, namely step position and step duration. These stepping goals guide the desired time-varying values for the center of mass and the stepping foot which in turn lead to objectives dictating the desired changes in momentum and joint angles over the duration of the step. Our approach employs a multiobjective optimization to solve for joint accelerations from the objectives and uses inverse dynamics to compute joint torques. Our approach can guide a character with purposeful, directable steps for controlling careful navigation of the character's position and orientation. In addition, the same system can be used to create protective steps to prevent falling as a reaction to a disturbance. A novel supervisory routine automatically chooses when and where to step based on an analysis of the momentum conditions for the character. We contrast this approach to previous methods for step recovery using the inverted pendulum.en_US
dc.description.seriesinformationEurographics/ ACM SIGGRAPH Symposium on Computer Animationen_US
dc.identifier.isbn978-3-905674-27-9en_US
dc.identifier.issn1727-5288en_US
dc.identifier.urihttps://doi.org/10.2312/SCA/SCA10/113-118en_US
dc.publisherThe Eurographics Associationen_US
dc.subjectCategories and Subject Descriptors (according to ACM CCS): I.3.7 [Computer Graphics]: Three-Dimensional Graphics and Realism-Animation; I.6.8 [Simulation and Modeling]: Types of Simulation-Reactive responsesen_US
dc.titleGoal-Directed Stepping with Momentum Controlen_US
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