Real-time Physics-based 3D Biped Character Simulation and Animation
碩士 === 國立成功大學 === 資訊工程學系碩博士班 === 96 === This paper 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 on-line adjust the desired motion trajectory from the input motion c...
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ndltd-TW-096NCKU53921182015-11-23T04:03:11Z http://ndltd.ncl.edu.tw/handle/14536413741639943955 Real-time Physics-based 3D Biped Character Simulation and Animation 即時物理模擬三維兩腳角色動畫 Yao-Yang Tsai 蔡曜陽 碩士 國立成功大學 資訊工程學系碩博士班 96 This paper 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 on-line adjust the desired motion trajectory from the input motion capture data. This on-line adjustment produces physically-plausible motion trajectory adapted to dynamic environments, which is then used as the desired motion for the motion controllers to follow in dynamics simulation. Rather than using the Proportional-Derivative controllers whose parameters usually cannot be easily set, our motion following control adopts a velocity-driven method which computes joint torques based on the desired joint angular velocities. Physically-correct full body motion of the 3D character is computed in dynamics simulation using the computed torques and dynamical model of the character. Our experiments demonstrate that MOCAP-following with real-time response animation can be achieved easily. Besides, physically-plausible motion style editing and automatic motion transition can also be generated naturally. Tong-Yee Lee 李同益 2008 學位論文 ; thesis 61 zh-TW |
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碩士 === 國立成功大學 === 資訊工程學系碩博士班 === 96 === This paper 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 on-line adjust the desired motion trajectory from the input motion capture data. This on-line adjustment produces physically-plausible motion trajectory adapted to dynamic environments, which is then used as the desired motion for the motion controllers to follow in dynamics simulation. Rather than using the Proportional-Derivative controllers whose parameters usually cannot be easily set, our motion following control adopts a velocity-driven method which computes joint torques based on the desired joint angular velocities. Physically-correct full body motion of the 3D character is computed in dynamics simulation using the computed torques and dynamical model of the character. Our experiments demonstrate that MOCAP-following with real-time response animation can be achieved easily. Besides, physically-plausible motion style editing and automatic motion transition can also be generated naturally.
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Tong-Yee Lee |
author_facet |
Tong-Yee Lee Yao-Yang Tsai 蔡曜陽 |
author |
Yao-Yang Tsai 蔡曜陽 |
spellingShingle |
Yao-Yang Tsai 蔡曜陽 Real-time Physics-based 3D Biped Character Simulation and Animation |
author_sort |
Yao-Yang Tsai |
title |
Real-time Physics-based 3D Biped Character Simulation and Animation |
title_short |
Real-time Physics-based 3D Biped Character Simulation and Animation |
title_full |
Real-time Physics-based 3D Biped Character Simulation and Animation |
title_fullStr |
Real-time Physics-based 3D Biped Character Simulation and Animation |
title_full_unstemmed |
Real-time Physics-based 3D Biped Character Simulation and Animation |
title_sort |
real-time physics-based 3d biped character simulation and animation |
publishDate |
2008 |
url |
http://ndltd.ncl.edu.tw/handle/14536413741639943955 |
work_keys_str_mv |
AT yaoyangtsai realtimephysicsbased3dbipedcharactersimulationandanimation AT càiyàoyáng realtimephysicsbased3dbipedcharactersimulationandanimation AT yaoyangtsai jíshíwùlǐmónǐsānwéiliǎngjiǎojiǎosèdònghuà AT càiyàoyáng jíshíwùlǐmónǐsānwéiliǎngjiǎojiǎosèdònghuà |
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1718134011875819520 |