Discovery of complex behaviors through contact-invariant optimization

  title={Discovery of complex behaviors through contact-invariant optimization},
  author={Igor Mordatch and Emanuel Todorov and Zoran Popovic},
  journal={ACM Trans. Graph.},
We present a motion synthesis framework capable of producing a wide variety of important human behaviors that have rarely been studied, including getting up from the ground, crawling, climbing, moving heavy objects, acrobatics (hand-stands in particular), and various cooperative actions involving two characters and their manipulation of the environment. Our framework is not specific to humans, but applies to characters of arbitrary morphology and limb configuration. The approach is fully… CONTINUE READING
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