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Human character balancing motion generation based on a double inverted pendulum model

Authors:

Jaepyung Hwang,

Taesoo KwonAuthors Info & Claims

MIG '17: Proceedings of the 10th International Conference on Motion in Games

Article No.: 11, Pages 1 - 6

https://doi.org/10.1145/3136457.3136472

Published: 08 November 2017 Publication History

Abstract

In this study, we propose a motion generation technique which generates natural motions based on a double inverted pendulum model (DIPM) and motion capture data (Mocap). While generating the motions, the proposed controller keeps the balance of the character. A DIPM uses a hip strategy to maintain the character's stability so that the zero moment point (ZMP) stays inside the support area, composed by the feet. The naturalness of the generated motion is inherited from mocap data by aligning the motion capture sequence with the DIPM. We match the DIPM with the motion capture data in order to satisfy both the character's stability and the naturalness. To validate the proposed motion generation technique, we use two kinds of motion capture data: a balancing motion under external forces and a grasping motion with a box.

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References

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Cited By

PENG YZHAO CXIE HFUKUSATO TMIYATA KIGARASHI T(2023)DualMotion: Global-to-Local Casual Motion Design for Character AnimationsIEICE Transactions on Information and Systems10.1587/transinf.2022IIP0011E106.D:4(459-468)Online publication date: 1-Apr-2023
https://doi.org/10.1587/transinf.2022IIP0011
Cao ZBao TRen ZFan YDeng KJia W(2022)Real-Time Stylized Humanoid Behavior Control through Interaction and SynchronizationSensors10.3390/s2204145722:4(1457)Online publication date: 14-Feb-2022
https://doi.org/10.3390/s22041457
Hwang JPark GKwon TIshii S(2022)Transition Motion Synthesis for Object Interaction based on Learning Transition StrategiesComputer Graphics Forum10.1111/cgf.1449941:6(37-50)Online publication date: 30-Mar-2022
https://doi.org/10.1111/cgf.14499
Show More Cited By

Index Terms

Human character balancing motion generation based on a double inverted pendulum model
1. Computing methodologies
  1. Computer graphics
    1. Animation

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Information & Contributors

Information

Published In

cover image ACM Conferences

MIG '17: Proceedings of the 10th International Conference on Motion in Games

November 2017

128 pages

ISBN:9781450355414

DOI:10.1145/3136457

Conference Chair:
Nuria Pelechano
Universitat Politecnica de Catalunya
,
Editor:
Stephen N. Spencer
University of Washington
,
Program Chairs:
Carol O'Sullivan
Trinity College Dublin
,
Julien Pettré
INRIA Rennes

Copyright © 2017 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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SIGGRAPH: ACM Special Interest Group on Computer Graphics and Interactive Techniques

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 08 November 2017

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National Research Foundation of Korea

Conference

MiG '17

Sponsor:

SIGGRAPH

MiG '17: Motion in Games

November 8 - 10, 2017

Barcelona, Spain

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Overall Acceptance Rate -9 of -9 submissions, 100%

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Cited By

PENG YZHAO CXIE HFUKUSATO TMIYATA KIGARASHI T(2023)DualMotion: Global-to-Local Casual Motion Design for Character AnimationsIEICE Transactions on Information and Systems10.1587/transinf.2022IIP0011E106.D:4(459-468)Online publication date: 1-Apr-2023
https://doi.org/10.1587/transinf.2022IIP0011
Cao ZBao TRen ZFan YDeng KJia W(2022)Real-Time Stylized Humanoid Behavior Control through Interaction and SynchronizationSensors10.3390/s2204145722:4(1457)Online publication date: 14-Feb-2022
https://doi.org/10.3390/s22041457
Hwang JPark GKwon TIshii S(2022)Transition Motion Synthesis for Object Interaction based on Learning Transition StrategiesComputer Graphics Forum10.1111/cgf.1449941:6(37-50)Online publication date: 30-Mar-2022
https://doi.org/10.1111/cgf.14499
Zielinska TRivera Coba GGe W(2021)Variable Inverted Pendulum Applied to Humanoid Motion DesignRobotica10.1017/S026357472000122839:8(1368-1389)Online publication date: 4-Feb-2021
https://doi.org/10.1017/S0263574720001228
Hwang JIshii SKwon TOba S(2020)Modularized Predictive Coding-Based Online Motion Synthesis Combining Environmental Constraints and Motion-Capture DataIEEE Access10.1109/ACCESS.2020.30364498(202274-202285)Online publication date: 2020
https://doi.org/10.1109/ACCESS.2020.3036449
Zielińska T(2020)Biologically Inspired Motion Design Approaches for Humanoids and Walking MachinesAutomatic Control, Robotics, and Information Processing10.1007/978-3-030-48587-0_16(497-522)Online publication date: 4-Sep-2020
https://doi.org/10.1007/978-3-030-48587-0_16

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