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	Optimization Control for Biped Motion Trajectory
	Wang YM(王雨萌); Wang Z(王政); Bao GB(鲍冠博); Xu B(徐波)
	2014-07
会议日期	2014-7-7
会议地点	中国，上海
关键词	Character Animation Trajectory Optimization Biped Locomotion Control
页码	780-785
英文摘要	Character animation is important in many applications, such as video games, movie production, and somatosensory interaction. However, it is difficult to control the locomotion of a virtual character in a dynamic environment, because bipeds are under-actuated and unstable. In this paper, we present a novel optimization strategy to improve the realism and stability of virtual character animation. Our trajectory optimization method produces lifelike motions by using the motion capture data. The method describes systematic computation of controllers that can optimize locomotion. We use center of mass (COM) control and foot control to enhance the sense of reality in physical movement, and use tracking control to maintain similarity with the reference motion. Experiment results demonstrate our approach is applicable by simulating walking motion and the optimized motion is both natural and recognizable.
语种	英语
URL标识	查看原文
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/41182]
专题	数字内容技术与服务研究中心_听觉模型与认知计算
推荐引用方式 GB/T 7714	Wang YM,Wang Z,Bao GB,et al. Optimization Control for Biped Motion Trajectory[C]. 见:. 中国，上海. 2014-7-7.

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