Control of Rotational Dynamics for Ground Behaviors
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Date
2013
Journal Title
Journal ISSN
Volume Title
Publisher
ACM SIGGRAPH / Eurographics Association
Abstract
This paper proposes a physics-based framework to generate rolling behaviors with significant rotational components. The proposed technique is a general approach for guiding coordinated action that can be layered over existing control architectures through the purposeful regulation of specific whole-body features. Namely, we apply control for rotation through the specification and execution of specific desired 'rotation indices' for whole-body orientation, angular velocity and angular momentum control. We account for the stylistic components of behaviors through reference posture control. The novelty of the described work includes control over behaviors with considerable rotational components as well as a number of characteristics useful for general control, such as flexible posture tracking and contact control planning.
Description
@inproceedings{10.1145:2485895.2485906,
booktitle = {Eurographics/ ACM SIGGRAPH Symposium on Computer Animation},
editor = {Theodore Kim and Robert Sumner},
title = {{Control of Rotational Dynamics for Ground Behaviors}},
author = {Brown, David F. and Macchietto, Adriano and Yin, KangKang and Zordan, Victor},
year = {2013},
publisher = {ACM SIGGRAPH / Eurographics Association},
ISSN = {1727-5288},
ISBN = {978-1-4503-2132-7},
DOI = {10.1145/2485895.2485906}
}