Real-Time Physics-Based 3D Biped Character Animation Using an Inverted Pendulum Model

@article{Tsai2010RealTimeP3,
  title={Real-Time Physics-Based 3D Biped Character Animation Using an Inverted Pendulum Model},
  author={Yao-Yang Tsai and Wen-Chieh Lin and Kuangyou B. Cheng and Jehee Lee and Tong-Yee Lee},
  journal={IEEE Transactions on Visualization and Computer Graphics},
  year={2010},
  volume={16},
  pages={325-337}
}
We present a physics-based approach to generate 3D biped character animation that can react to dynamical environments in real time. Our approach utilizes an inverted pendulum model to online adjust the desired motion trajectory from the input motion capture data. This online adjustment produces a physically plausible motion trajectory adapted to dynamic environments, which is then used as the desired motion for the motion controllers to track in dynamics simulation. Rather than using… CONTINUE READING
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