Three-Level Tracking Method for Animating a 3D Humanoid Character
With a rapid growth in 3D graphics technology over the last few years, people are desired to see more flexible reacting motions of a biped in animations. In particular, it is impossible to anticipate all reacting motions of a biped while facing a perturbation. In this paper, we propose a three-level tracking method for animating a 3D humanoid character. First, we take the laws of physics into account to attach physical attributes, such as mass, gravity, friction, collision, contact, and torque, to bones and joints of a character. The next step is to employ PD controller to follow a reference motion as closely as possible. Once the character cannot tolerate a strong perturbation to prevent itself from falling down, we are capable of tracking a desirable falling-down action to avoid any falling condition inaccuracy. From the experimental results, we demonstrate the effectiveness and flexibility of the proposed method in comparison with conventional data-driven approaches.
<p>[1] M. Girard, A. A. Maciejewski, "Computational Modeling for the
Computer Animation of Legged Figures," in Proceedings of the 12th
Annual Conference on Computer Graphics and Interactive Techniques,
pp. 263-270, 1985.
[2] P. K. Levangie, C. C. Norkin, Joint Structure and Function: A
Comprehensive Analysis, 4th Edition, 2000.
[3] J. K. Hodgins, W. L. Wooten, D. C. Brogan, J. F. O'Brien, "Animating
Human Athletics," in Proceedings of the 22nd Annual Conference on
Computer Graphics and Interactive Techniques, pp. 71-78, 1995.
[4] N. Nguyen, N. Wheatland, D. Brown, B. Parise, C. K. Liu, V. Zordan,
"Performance Capture with Physical Interaction," in Proceedings of the
2010 ACM SIGGRAPH/Eurographics Symposium on Computer
Animation, pp. 189-195, 2010.
[5] Y. Abe, J. Popović, "Interactive Animation of Dynamic Manipulation,"
in Proceedings of the 2006 ACM SIGGRAPH/Eurographics
Symposium on Computer Animation, pp. 195-204, 2006.
[6] K. W. Sok, M. Kim, J. Lee, "Simulating Biped Behaviors from Human
Motion Data," ACM Transactions on Graphics, Vol. 26, No. 3, 2007.
[7] J. Laszlo, M. v. d. Panne, E. Fiume, "Limit Cycle Control and its
Application to the Animation of Balancing and Walking," in
Proceedings of the 23rd Annual Conference on Computer Graphics and
Interactive Techniques, pp. 155-162, 1996.
[8] V. B. Zordan, J. K. Hodgins, "Tracking and Modifying Upper-Body
Human Motion Data with Dynamic Simulation," in Proceedings of the
Computer Animation and Simulation'99, pp. 13-22, 1999.
[9] K. Yin, M. B. Cline, D. K. Pai, "Motion Perturbation Based on Simple
Neuromotor Control Models," in Proceedings of the 11th Pacific
Conference on Computer Graphics and Applications, pp. 445-449,
2003.
[10] Y. Abe, M. d. Silva, J. Popović, "Multiobjective Control with Frictional
Contacts," in Proceedings of the 2007 ACM SIGGRAPH/Eurographics
Symposium on Computer Animation, pp. 249-258, 2007.
[11] M. d. Silva, Y. Abe, J. Popović, "Simulation of Human Motion Data
Using Short-Horizon Model-Predictive Control " Computer Graphics
Forum, Vol. 27, pp. 371-380, 2008.
[12] Y. Ye, C. K. Liu, "Animating Responsive Characters with Dynamic
Constraints in Near-Unactuated Coordinates," ACM Transactions on
Graphics, Vol. 27, No.5, 2008.
[13] Autodesk Inc. (2012). Autodesk FBX. Available:
http://usa.autodesk.com/fbx/.
[14] R. Smith. (2012). Open Dynamic Engine. Available:
http://www.ode.org/.
[15] K. Yin, K. Loken, M. v. d. Panne, "SIMBICON: Simple Biped
Locomotion Control," ACM Transactions on Graphics, Vol. 26, No. 3,
2007.
[16] N. Nguyen, N. Wheatland, D. Brown, B. Parise, C. K. Liu, V. Zordan,
"Performance Capture with Physical Interaction," in Proceedings of the
2010 ACM SIGGRAPH/Eurographics Symposium on Computer
Animation, pp. 189-195, 2010.
[17] B. Tang, Z. Pan, L. Zheng, M. Zhang, "Interactive Generation of Falling
Motions," Computer Animation and Virtual Worlds, Vol.17, No.3-4, pp.
271-279, 2006.
[18] V. B. Zordan, A. Majkowska, M. Fast, "Dynamic Response for Motion
Capture Animation," ACM Transactions on Graphics, Vol. 24, No. 3, pp.
697-701, 2005.</p>
<p>[1] M. Girard, A. A. Maciejewski, "Computational Modeling for the
Computer Animation of Legged Figures," in Proceedings of the 12th
Annual Conference on Computer Graphics and Interactive Techniques,
pp. 263-270, 1985.
[2] P. K. Levangie, C. C. Norkin, Joint Structure and Function: A
Comprehensive Analysis, 4th Edition, 2000.
[3] J. K. Hodgins, W. L. Wooten, D. C. Brogan, J. F. O'Brien, "Animating
Human Athletics," in Proceedings of the 22nd Annual Conference on
Computer Graphics and Interactive Techniques, pp. 71-78, 1995.
[4] N. Nguyen, N. Wheatland, D. Brown, B. Parise, C. K. Liu, V. Zordan,
"Performance Capture with Physical Interaction," in Proceedings of the
2010 ACM SIGGRAPH/Eurographics Symposium on Computer
Animation, pp. 189-195, 2010.
[5] Y. Abe, J. Popović, "Interactive Animation of Dynamic Manipulation,"
in Proceedings of the 2006 ACM SIGGRAPH/Eurographics
Symposium on Computer Animation, pp. 195-204, 2006.
[6] K. W. Sok, M. Kim, J. Lee, "Simulating Biped Behaviors from Human
Motion Data," ACM Transactions on Graphics, Vol. 26, No. 3, 2007.
[7] J. Laszlo, M. v. d. Panne, E. Fiume, "Limit Cycle Control and its
Application to the Animation of Balancing and Walking," in
Proceedings of the 23rd Annual Conference on Computer Graphics and
Interactive Techniques, pp. 155-162, 1996.
[8] V. B. Zordan, J. K. Hodgins, "Tracking and Modifying Upper-Body
Human Motion Data with Dynamic Simulation," in Proceedings of the
Computer Animation and Simulation'99, pp. 13-22, 1999.
[9] K. Yin, M. B. Cline, D. K. Pai, "Motion Perturbation Based on Simple
Neuromotor Control Models," in Proceedings of the 11th Pacific
Conference on Computer Graphics and Applications, pp. 445-449,
2003.
[10] Y. Abe, M. d. Silva, J. Popović, "Multiobjective Control with Frictional
Contacts," in Proceedings of the 2007 ACM SIGGRAPH/Eurographics
Symposium on Computer Animation, pp. 249-258, 2007.
[11] M. d. Silva, Y. Abe, J. Popović, "Simulation of Human Motion Data
Using Short-Horizon Model-Predictive Control " Computer Graphics
Forum, Vol. 27, pp. 371-380, 2008.
[12] Y. Ye, C. K. Liu, "Animating Responsive Characters with Dynamic
Constraints in Near-Unactuated Coordinates," ACM Transactions on
Graphics, Vol. 27, No.5, 2008.
[13] Autodesk Inc. (2012). Autodesk FBX. Available:
http://usa.autodesk.com/fbx/.
[14] R. Smith. (2012). Open Dynamic Engine. Available:
http://www.ode.org/.
[15] K. Yin, K. Loken, M. v. d. Panne, "SIMBICON: Simple Biped
Locomotion Control," ACM Transactions on Graphics, Vol. 26, No. 3,
2007.
[16] N. Nguyen, N. Wheatland, D. Brown, B. Parise, C. K. Liu, V. Zordan,
"Performance Capture with Physical Interaction," in Proceedings of the
2010 ACM SIGGRAPH/Eurographics Symposium on Computer
Animation, pp. 189-195, 2010.
[17] B. Tang, Z. Pan, L. Zheng, M. Zhang, "Interactive Generation of Falling
Motions," Computer Animation and Virtual Worlds, Vol.17, No.3-4, pp.
271-279, 2006.
[18] V. B. Zordan, A. Majkowska, M. Fast, "Dynamic Response for Motion
Capture Animation," ACM Transactions on Graphics, Vol. 24, No. 3, pp.
697-701, 2005.</p>
@article{"International Journal of Information, Control and Computer Sciences:64739", author = "Tainchi Lu and Chochih Lin", title = "Three-Level Tracking Method for Animating a 3D Humanoid Character", abstract = "With a rapid growth in 3D graphics technology over the last few years, people are desired to see more flexible reacting motions of a biped in animations. In particular, it is impossible to anticipate all reacting motions of a biped while facing a perturbation. In this paper, we propose a three-level tracking method for animating a 3D humanoid character. First, we take the laws of physics into account to attach physical attributes, such as mass, gravity, friction, collision, contact, and torque, to bones and joints of a character. The next step is to employ PD controller to follow a reference motion as closely as possible. Once the character cannot tolerate a strong perturbation to prevent itself from falling down, we are capable of tracking a desirable falling-down action to avoid any falling condition inaccuracy. From the experimental results, we demonstrate the effectiveness and flexibility of the proposed method in comparison with conventional data-driven approaches.
", keywords = "Character Animation, Forward Dynamics, Motion
Tracking, PD Control.", volume = "7", number = "7", pages = "1068-5", }
