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Control Systems for Human Running using an Inverted Pendulum Model and a Reference Motion Capture Sequence
Taesoo Kwon , Jessica K. Hodgins Carnegie Mellon University
Abstract Physical
simulation of characters is often proposed as a way to generate
motion for interactive applications. A simulated character has
the potential to adapt to changing terrain and disturbances in a
realistic and robust manner. In this paper, we present a
balancing control algorithm based on a simplified dynamic model,
an inverted pendulum on a cart. The simplified model lacks the
degrees of freedom found in human models, so we analyze a
captured reference motion in a preprocessing step and use that
information about human running patterns to supplement the
balance algorithms provided by the inverted pendulum. At
run-time, the controller plans a desired motion at every frame
based on the current estimate of the pendulum state and a
predicted pendulum trajectory. By tracking this time-varying
trajectory, our controller creates a running character that
dynamically balances, changes speed and makes turns. The initial
controller can be optimized to further improve the motion quality
with an objective function that minimizes the difference between
a planned desired motion and a simulated motion. We demonstrate
the power of this approach by generating running motions at a
variety of speeds (3m/s to 5m/s), following a curved path, and in
the presence of disturbance forces. Paper & Demo (Coming soon) Taesoo Kwon and Jessica Hodgins. Control Systems for Human Running using an Inverted Pendulum Model and a Reference Motion Capture Sequence. In 2010 ACM SIGGRAPH / Eurographics Symposium on Computer Animation, July 2010. (accepted)
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