Real-time Physics-based 3D Biped Character Simulation and Animation

• Main Authors: Yao-Yang Tsai, 蔡曜陽
• Other Authors: Tong-Yee Lee
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/14536413741639943955

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.