This paper proposes a physics-based framework to generate rolling behaviors with significant rotational components. The proposed technique is a general approach for guiding coordinated action that can be layered over existing control architectures through the pur- poseful regulation of specific whole-body features. Namely, we ap- ply control for rotation through the specification and execution of specific desired ‘rotation indices’ for whole-body orientation, an- gular velocity and angular momentum control. We account for the stylistic components of behaviors through reference posture con- trol. The novelty of the described work includes control over behav- iors with considerable rotational components as well as a number of characteristics useful for general control, such as flexible posture tracking and contact control planning.
Control of Rotational Dynamics for Ground Behaviors
David F. Brown, Adriano Macchietto, KangKang Yin, Victor Zordan
ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA), 2013.
paper, movie(mp4), SCA2013 Best Paper Award
Simulation and Control of Humanoid Rolling and Falling Behaviors
David F. Brown, Master's Thesis, 2012