Optimal feedback control for character animation using an abstract model

Feedback Control for Character Animation Using an Abstract Model Yuting Ye C. Karen Liu Georgia Institute of Technology∗ Real-time adaptation of a motion capture sequence to virtual environments with physical perturbations requires robust control strategies. This paper describes an optimal feedback controller for motion tracking that allows for on-the-fly re-planning of long-term goals and adjustments in the final completion time. We first solve ine optimal trajectory problem for an abstract dynamic model that captures the essential relation between contact forces and momenta. A feedback control policy is then derived and used to simuabstract model online. Simulation results become dynamic constraints for online reconstruction of full-body motion from a reference. We applied our controller to a wide range of motions including walking, long stepping, and a squat exercise. Results show that our controllers are robust to large perturbations and changes in the environment. CR Categor...

• Type: Conference
• Year: 2010
• Where: SIGGRAPH
• Authors: Yuting Ye, C. Karen Liu
• Keywords: Computer Graphics, Feedback Control, Ine Optimal Trajectory, Optimal Feedback Controller, SIGGRAPH 2010