David Brown

Ph.D. Student

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Dynamic Character Rolling Simulation

Slanted Roll

Abstract

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.

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Slanted Roll

Video

Related Publications

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
Thesis