Paper Info
Title
Pareto Optimal Control for Natural and Supernatural Motions
Abstract
Optimization is a natural tool for designing natural motion control strategies. However, optimal motions can be expensive to compute. Furthermore, we are often interested in knowing an entire family of optimal motions rather than single motion. For a motion such as a jump, the solution family of interest is described by the pareto-optimal front that defines the trade-off between effort and jump height. In this paper we explore algorithms for computing a set of controllers that span the pareto-optimal front for jumping motions. Once computed, these controllers can then drive physics-based simulations in real time. We also develop supernatural jump controllers through the optimized introduction of external forces. We show that the pareto-optimal front can naturally span both natural and supernatural regimes. This allows for controllers that can naturally transition from physics-based motions to motions assisted by external forces as the task demands increase.
Year
DOI
Venue
2013
10.1145/2522628.2522902
MIG
Keywords
Field
DocType
pareto optimal control,supernatural motions,entire family,pareto-optimal front,optimal motion,physics-based motion,natural motion control strategy,jump height,single motion,supernatural jump controller,natural tool,external force,control
Motion control,Jumping,Computer science,Simulation,Pareto optimal,Jump
Conference
Citations 
PageRank 
References 
0
0.34
25
Authors
2
Name
Order
Citations
PageRank
Shailen Agrawal1131.94
Michiel van de Panne22089160.87