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Conference Paper: Animating Human Lower Limbs Using Contact-Invariant Optimization

TitleAnimating Human Lower Limbs Using Contact-Invariant Optimization
Authors
Issue Date2013
PublisherAssociation for Computing Machinery, Inc. The Journal's web site is located at http://tog.acm.org
Citation
SIGGRAPH Asia 2013. In ACM Transactions on Graphics , 2013, v. 32 n. 6, article no. 203, p. 203:1-203:8 How to Cite?
AbstractWe present a trajectory optimization approach to animating human activities that are driven by the lower body. Our approach is based on contact-invariant optimization. We develop a simplified and generalized formulation of contact-invariant optimization that enables continuous optimization over contact timings. This formulation is applied to a fully physical humanoid model whose lower limbs are actuated by musculotendon units. Our approach does not rely on prior motion data or on task-specific controllers. Motion is synthesized from first principles, given only a detailed physical model of the body and spacetime constraints. We demonstrate the approach on a variety of activities, such as walking, running, jumping, and kicking. Our approach produces walking motions that quantitatively match ground-truth data, and predicts aspects of human gait initiation, incline walking, and locomotion in reduced gravity.
Persistent Identifierhttp://hdl.handle.net/10722/199524
ISSN
2015 Impact Factor: 4.218
2015 SCImago Journal Rankings: 2.552
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorMordatch, Ien_US
dc.contributor.authorWang, JMen_US
dc.contributor.authorTodorov, Een_US
dc.contributor.authorKoltun, Ven_US
dc.date.accessioned2014-07-22T01:21:52Z-
dc.date.available2014-07-22T01:21:52Z-
dc.date.issued2013en_US
dc.identifier.citationSIGGRAPH Asia 2013. In ACM Transactions on Graphics , 2013, v. 32 n. 6, article no. 203, p. 203:1-203:8en_US
dc.identifier.issn0730-0301en_US
dc.identifier.urihttp://hdl.handle.net/10722/199524-
dc.description.abstractWe present a trajectory optimization approach to animating human activities that are driven by the lower body. Our approach is based on contact-invariant optimization. We develop a simplified and generalized formulation of contact-invariant optimization that enables continuous optimization over contact timings. This formulation is applied to a fully physical humanoid model whose lower limbs are actuated by musculotendon units. Our approach does not rely on prior motion data or on task-specific controllers. Motion is synthesized from first principles, given only a detailed physical model of the body and spacetime constraints. We demonstrate the approach on a variety of activities, such as walking, running, jumping, and kicking. Our approach produces walking motions that quantitatively match ground-truth data, and predicts aspects of human gait initiation, incline walking, and locomotion in reduced gravity.en_US
dc.languageengen_US
dc.publisherAssociation for Computing Machinery, Inc. The Journal's web site is located at http://tog.acm.orgen_US
dc.relation.ispartofACM Transactions on Graphicsen_US
dc.rightsACM Transactions on Graphics . Copyright © Association for Computing Machinery, Inc.en_US
dc.rights©ACM, YYYY. This is the author's version of the work. It is posted here by permission of ACM for your personal use. Not for redistribution. The definitive version was published in PUBLICATION, {VOL#, ISS#, (DATE)} http://doi.acm.org/10.1145/nnnnnn.nnnnnnen_US
dc.titleAnimating Human Lower Limbs Using Contact-Invariant Optimizationen_US
dc.typeConference_Paperen_US
dc.identifier.emailWang, JM: jmcwang@hku.hken_US
dc.identifier.authorityWang, JM=rp01845en_US
dc.identifier.doi10.1145/2508363.2508365en_US
dc.identifier.scopuseid_2-s2.0-84887847814-
dc.identifier.hkuros230336en_US
dc.identifier.volume32en_US
dc.identifier.issue6, article no. 203en_US
dc.identifier.spage203:1en_US
dc.identifier.epage203:8en_US
dc.identifier.isiWOS:000326923200047-
dc.publisher.placeUnited Statesen_US

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