Feedback Control for Rotational Movements in Feature Space

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dc.contributor.authorBorno, Mazen Alen_US
dc.contributor.authorFiume, Eugeneen_US
dc.contributor.authorHertzmann, A.en_US
dc.contributor.authorLasa, M. deen_US
dc.contributor.editorB. Levy and J. Kautzen_US
dc.date.accessioned2015-03-03T12:27:46Z
dc.date.available2015-03-03T12:27:46Z
dc.date.issued2014en_US
dc.description.abstractSynthesizing controllers for rotational movements in feature space is an open research problem and is particularly challenging because of the need to precisely regulate the character s global orientation, angular momentum and inertia. This paper presents feature-based controllers for a wide variety of rotational movements, including cartwheels, dives and flips. We show that the controllers can be made robust to large external disturbances by using a time-invariant control scheme. The generality of the control laws is demonstrated by providing examples of the flip controller with different apexes, the diving controller with different heights and styles, the cartwheel controller with different speeds and straddle widths, etc. The controllers do not rely on any input motion or offline optimization.en_US
dc.description.seriesinformationComputer Graphics Forumen_US
dc.identifier.doi10.1111/cgf.12321en_US
dc.identifier.issn1467-8659en_US
dc.identifier.urihttps://doi.org/10.1111/cgf.12321en_US
dc.publisherThe Eurographics Association and John Wiley and Sons Ltd.en_US
dc.titleFeedback Control for Rotational Movements in Feature Spaceen_US
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33-Issue 2
Full Papers 2014 - CGF 33-Issue 2