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Animating a newly designed character using motion capture (mocap) data is a long standing problem in computer animation. A key consideration is the skeletal structure that should correspond to the available mocap data, and the shape…

Precise trajectory tracking for legged robots can be challenging due to their high degrees of freedom, unmodeled nonlinear dynamics, or random disturbances from the environment. A commonly adopted solution to overcome these challenges is to…

Facial animation is one of the most challenging problems in computer graphics, and it is often solved using linear heuristics like blend-shape rigging. More expressive approaches like physical simulation have emerged, but these methods are…

An effective 3D stepping control algorithm that is computationally fast, robust, and easy to implement is extremely important and valuable to character animation research. In this paper, we present a novel technique for generating dynamic,…

Guidance robots that can guide people and avoid various obstacles, could potentially be owned by more visually impaired people at a fairly low cost. Most of the previous guidance robots for the visually impaired ignored the human response…

A robotic system can be viewed as a collection of lower-dimensional systems that are coupled via reaction forces (Lagrange multipliers) enforcing holonomic constraints. Inspired by this viewpoint, this paper presents a novel formulation for…

Authoring an appealing animation for a virtual character is a challenging task. In computer-aided keyframe animation artists define the key poses of a character by manipulating its underlying skeletons. To look plausible, a character pose…

This paper introduces a new wheel-legged robot and develops motion controllers based on central pattern generators (CPGs) for the robot to navigate over a range of terrains. A transformable leg-wheel design is considered and characterized…

We introduce GaussianAvatars, a new method to create photorealistic head avatars that are fully controllable in terms of expression, pose, and viewpoint. The core idea is a dynamic 3D representation based on 3D Gaussian splats that are…

Previous motion generation methods are limited to the pre-rigged 3D human model, hindering their applications in the animation of various non-rigged characters. In this work, we present TapMo, a Text-driven Animation Pipeline for…

Spring-based actuators in legged locomotion provide energy-efficiency and improved performance, but increase the difficulty of controller design. While previous work has focused on extensive modeling and simulation to find optimal…

For the last decades, the concern of producing convincing facial animation has garnered great interest, that has only been accelerating with the recent explosion of 3D content in both entertainment and professional activities. The use of…

In this paper, we present Export3D, a one-shot 3D-aware portrait animation method that is able to control the facial expression and camera view of a given portrait image. To achieve this, we introduce a tri-plane generator with an effective…

As the global population ages, many seniors face the problem of loneliness. Companion robots offer a potential solution. However, current companion robots often lack advanced functionality, while task-oriented robots are not designed for…

Animatronic robots hold the promise of enabling natural human-robot interaction through lifelike facial expressions. However, generating realistic, speech-synchronized robot expressions poses significant challenges due to the complexities…

For legged robots to match the athletic capabilities of humans and animals, they must not only produce robust periodic walking and running, but also seamlessly switch between nominal locomotion gaits and more specialized transient…

In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…

Virtual character animation and movement synthesis have advanced rapidly during recent years, especially through a combination of extensive motion capture datasets and machine learning. A remaining challenge is interactively simulating…

This work explores the potential of using differentiable simulation for learning quadruped locomotion. Differentiable simulation promises fast convergence and stable training by computing low-variance first-order gradients using robot…

This paper presents a novel Expressive Facial Control (ExFace) method based on Diffusion Transformers, which achieves precise mapping from human facial blendshapes to bionic robot motor control. By incorporating an innovative model…