Name
Title | ||
|---|---|---|
2PAC: Two-Point Attractors for Center Of Mass Trajectories in Multi-Contact Scenarios. |
Abstract | ||
|---|---|---|
Synthesizing motions for legged characters in arbitrary environments is a long-standing problem that has recently received a lot of attention from the computer graphics community. We tackle this problem with a procedural approach that is generic, fully automatic, and independent from motion capture data. The main contribution of this article is a point-mass-model-based method to synthesize Center Of Mass trajectories. These trajectories are then used to generate the whole-body motion of the character.
The use of a point mass model results in physically inconsistent motions and joint limit violations when mapped back to a full- body motion. We mitigate these issues through the use of a novel formulation of the kinematic constraints that allows us to generate a quasi-static Center Of Mass trajectory in a way that is both user-friendly and computationally efficient. We also show that the quasi-static constraint can be relaxed to generate motions usable for computer animation at the cost of a moderate violation of the dynamic constraints.
Our method was integrated in our open-source contact planner and tested with different scenarios—some never addressed before—featuring legged characters performing non-gaited motions in cluttered environments. The computational efficiency of our trajectory generation algorithm (under one ms to compute one second of trajectory) enables us to synthesize motions in a few seconds, one order of magnitude faster than state-of-the-art methods. Although our method is empirically able to synthesize collision-free motions, the formal handling of environmental constraints is not part of the proposed method and left for future work.
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Year | Venue | Keywords |
|---|---|---|
2018 | ACM Trans. Graph. | Center Of Mass, Character animation, motion planning, multi-contact locomotion |
DocType | Volume | Issue |
Journal | 37 | 5 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Steve Tonneau | 1 | 19 | 4.32 |
| Pierre Fernbach | 2 | 3 | 4.10 |
| Andrea Del Prete | 3 | 76 | 8.90 |
| Julien Pettré | 4 | 785 | 56.21 |
| Nicolas Mansard | 5 | 490 | 39.67 |