Libin Liu
KangKang Yin
Michiel van de Panne
Abstract
In this paper we learn the skills required by real-time physics-based avatars to perform parkour-style fast terrain crossing using a mix of running, jumping, speed-vaulting, and drop-rolling. We begin with a single motion capture example of each skill and then learn reduced-order linear feedback control laws that provide robust execution of the motions during forward dynamic simulation. We then parameterize each skill with respect to the environment, such as the height of obstacles, or with respect to the task parameters, such as running speed and direction. We employ a continuation process to achieve the required parameterization of the motions and their affine feedback laws. The continuation method uses a predictor-corrector method based on radial basis functions. Lastly, we build control laws specific to the sequential composition of different skills, so that the simulated character can robustly transition to obstacle clearing maneuvers from running whenever obstacles are encountered. The learned transition skills work in tandem with a simple online step-based planning algorithm, and together they robustly guide the character to achieve a state that is well-suited for the chosen obstacle-clearing motion.
- Arikan, O., and Forsyth, D. A. 2003. Interactive motion generation from examples. ACM Transactions on Graphics 21, 3, 483--490. Google Scholar
Digital Library
- Carr, J. C., Beatson, R. K., Cherrie, J. B., Mitchell, T. J., Fright, W. R., McCallum, B. C., and Evans, T. R. 2001. Reconstruction and representation of 3d objects with radial basis functions. In SIGGRAPH '01, 67--76. Google ScholarDigital Library
- Chai, J., and Hodgins, J. K. 2007. Constraint-based motion optimization using a statistical dynamic model. ACM Transactions on Graphics 26, 3, Article 8. Google ScholarDigital Library
- Choi, M. G., Kim, M., Hyun, K., and Lee, J. 2011. Deformable motion: Squeezing into cluttered environments. Computer Graphics Forum (EUROGRAPHICS 2011) 30, 2, 445--453.Google Scholar
- Coros, S., Beaudoin, P., and van de Panne, M. 2009. Robust task-based control policies for physics-based characters. ACM Transctions on Graphics 28, 5, Article 170. Google ScholarDigital Library
- Coros, S., Beaudoin, P., and van de Panne, M. 2010. Generalized biped walking control. ACM Transctions on Graphics 29, 4, Article 130. Google ScholarDigital Library
- Coros, S., Karpathy, A., Jones, B., Reveret, L., and van de Panne, M. 2011. Locomotion skills for simulated quadrupeds. ACM Transactions on Graphics 30, 4, Article 59. Google ScholarDigital Library
- da Silva, M., Abe, Y., and Popović, J. 2008. Interactive simulation of stylized human locomotion. ACM Trans. Graph. 27, 3, Article 82. Google ScholarDigital Library
- da Silva, M., Durand, F., and Popović, J. 2009. Linear bellman combination for control of character animation. ACM Trans. Graph. 28, 3, Article 82. Google ScholarDigital Library
- Ding, K., Liu, L., van de Panne, M., and Yin, K. 2012. Learning reduced-order feedback policies for motion skills. Tech. Rep. TR-2012-06, University of British Columbia.Google Scholar
- Edwardes, D. 2009. The Parkour and Freerunning Handbook, first ed. HarperCollins Publishers.Google Scholar
- Faloutsos, P., van de Panne, M., and Terzopoulos, D. 2001. Composable controllers for physics-based character animation. In Proceedings of SIGGRAPH 2001, 251--260. Google ScholarDigital Library
- Gutmann, A. K., Jacobi, B., Butcher, M. T., and Bertram, J. E. A. 2006. Constrained optimization in human running. The Journal of Experimental Biology 209, 622--632.Google ScholarCross Ref
- Hansen, N. 2006. The cma evolution strategy: A comparing review. In Towards a New Evolutionary Computation, 75--102.Google Scholar
- Heck, R., and Gleicher, M. 2007. Parametric motion graphs. In Proceedings of the 2007 symposium on Interactive 3D graphics and games, 129--136. Google ScholarDigital Library
- Hodgins, J. K., Wooten, W. L., Brogan, D. C., and O'Brien, J. F. 1995. Animating human athletics. In Proceedings of SIGGRAPH 1995, 71--78. Google ScholarDigital Library
- Kovar, L., and Gleicher, M. 2004. Automated extraction and parameterization of motions in large data sets. ACM Transactions on Graphics (TOG) 23, 3, 559--568. Google ScholarDigital Library
- Kovar, L., Gleicher, M., and Pighin, F. 2002. Motion graphs. In SIGGRAPH 2002 Conference Proceedings, 473--482. Google ScholarDigital Library
- Kwon, T., and Hodgins, J. 2010. Control systems for human running using an inverted pendulum model and a reference motion capture sequence. In SCA '10: Proceedings of the 2010 ACM SIGGRAPH/Eurographics symposium on Computer animation, 129--138. Google ScholarDigital Library
- Lee, J., Chai, J., Reitsma, P. S. A., Hodgins, J. K., and Pollard, N. S. 2002. Interactive control of avatars animated with human motion data. ACM Transactions on Graphics 21, 3, 491--500. Google ScholarDigital Library
- Lee, Y., Lee, S. J., and Popović, Z. 2009. Compact character controllers. ACM Transctions on Graphics 28, 5, Article 169. Google ScholarDigital Library
- Lee, Y., Wampler, K., Bernstein, G., Popović, J., and Popović, Z. 2010. Motion fields for interactive character locomotion. ACM Transctions on Graphics 29, 6, Article 138. Google ScholarDigital Library
- Lee, Y., Kim, S., and Lee, J. 2010. Data-driven biped control. ACM Transctions on Graphics 29, 4, Article 129. Google ScholarDigital Library
- Liu, L., Yin, K., van de Panne, M., Shao, T., and Xu, W. 2010. Sampling-based contact-rich motion control. ACM Transactions on Graphics 29, 4, Article 128. Google ScholarDigital Library
- McCann, J., and Pollard, N. 2007. Responsive characters from motion fragments. ACM Transactions on Graphics 26, 3, Article 6. Google ScholarDigital Library
- Min, J., Chen, Y., and Chai, J. 2009. Interactive generation of human animation with deformable motion models. ACM Transactions on Graphics 29, 1, Article 9. Google ScholarDigital Library
- Mordatch, I., de Lasa, M., and Hertzmann, A. 2010. Robust physics-based locomotion using low-dimensional planning. ACM Trans. Graph. 29, 4, Article 71. Google ScholarDigital Library
- Muico, U., Lee, Y., Popović, J., and Popović, Z. 2009. Contact-aware nonlinear control of dynamic characters. ACM Trans. Graph. 28, 3, Article 81. Google ScholarDigital Library
- Muico, U., Popović, J., and Popović, Z. 2011. Composite control of physically simulated characters. ACM Trans. Graph. 30, 3, Article 16. Google ScholarDigital Library
- Safonova, A., Hodgins, J. K., and Pollard, N. S. 2004. Synthesizing physically realistic human motion in low-dimensional, behavior-specific spaces. ACM Transactions on Graphics (TOG) 23, 3, 514--521. Google ScholarDigital Library
- Sok, K. W., Kim, M., and Lee, J. 2007. Simulating biped behaviors from human motion data. ACM Trans. Graph. 26, 3, Article 107. Google ScholarDigital Library
- Treuille, A., Lee, Y., and Popović, Z. 2007. Near-optimal character animation with continuous control. ACM Transactions on Graphics (TOG) 26, 3, Article 7. Google ScholarDigital Library
- Wang, J. M., Fleet, D. J., and Hertzmann, A. 2009. Optimizing walking controllers. ACM Transctions on Graphics 28, 5, Article 168. Google ScholarDigital Library
- Wei, X., Min, J., and Chai, J. 2011. Physically valid statistical models for human motion generation. ACM Transctions on Graphics 30, 3, Article 19. Google ScholarDigital Library
- Ye, Y., and Liu, C. K. 2010. Optimal feedback control for character animation using an abstract model. ACM Trans. Graph. 29, 4, Article 74. Google ScholarDigital Library
- Yin, K., Loken, K., and van de Panne, M. 2007. Simbicon: Simple biped locomotion control. ACM Transctions on Graphics 26, 3, Article 105. Google ScholarDigital Library
- Yin, K., Coros, S., Beaudoin, P., and van de Panne, M. 2008. Continuation methods for adapting simulated skills. ACM Transctions on Graphics 27, 3, Article 81. Google ScholarDigital Library
- Zhao, P., and van de Panne, M. 2005. User interfaces for interactive control of physics-based 3D characters. In ACM SIGGRAPH 2005 Symposium on Interactive 3D Graphics and Games, 87--94. Google ScholarDigital Library
Index Terms
- Terrain runner: control, parameterization, composition, and planning for highly dynamic motions
Recommendations
Muscle-Based Control for Character Animation
Muscle-based control is transforming the field of physics-based character animation through the integration of knowledge from neuroscience, biomechanics and robotics, which enhance motion realism. Since any physics-based animation system can be extended ...
Generalized reciprocal collision avoidance
Reciprocal collision avoidance has become a popular area of research over recent years. Approaches have been developed for a variety of dynamic systems ranging from single integrators to car-like, differential-drive, and arbitrary, linear equations of ...
Motion control and trajectory tracking control for a mobile robot via disturbance observer
This paper investigates the tracking control of a wheeled mobile robot in the unknown environment. A disturbance observer is developed with utilization the integral filter. The proposed control scheme employs the disturbance observer control approach to ...
Comments