Multiobjective Control with Frictional Contacts

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dc.contributor.authorAbe, Yeuhien_US
dc.contributor.authorSilva, Marco daen_US
dc.contributor.authorPopovic, Jovanen_US
dc.contributor.editorDimitris Metaxas and Jovan Popovicen_US
dc.date.accessioned2014-01-29T07:27:35Z
dc.date.available2014-01-29T07:27:35Z
dc.date.issued2007en_US
dc.description.abstractStanding is a fundamental skill mastered by humans and animals alike. Although easy for adults, it requires careful and deliberate manipulation of contact forces. The variation in contact configuration (e.g., standing on one foot, on uneven ground, or while holding on for support) presents a difficult challenge for interactive simulation of humans and animals, especially while performing tasks in the presence of external disturbances. We describe an analytic approach for control of standing in three-dimensional simulations based upon local optimization. At any point in time, the control system solves a quadratic program to compute actuation by maximizing the performance of multiple motion objectives subject to constraints imposed by actuation limits and contact configuration. This formulation is suitable for interactive animation and it adapts to the proportions of any character model in any non-planar, frictional contact configuration.en_US
dc.description.seriesinformationEurographics/SIGGRAPH Symposium on Computer Animationen_US
dc.identifier.isbn978-3-905673-44-9en_US
dc.identifier.issn1727-5288en_US
dc.identifier.urihttps://doi.org/10.2312/SCA/SCA07/249-258en_US
dc.publisherThe Eurographics Associationen_US
dc.subjectCategories and Subject Descriptors (according to ACMCCS): I.3.7 [Computer Graphics]: Three Dimensional Graphics and Realism, Animationen_US
dc.titleMultiobjective Control with Frictional Contactsen_US
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SCA 07: Eurographics/SIGGRAPH Symposium on Computer Animation