Related papers: Complementary Dynamics
We propose a reduced-space elasto-dynamic solver that is well suited for augmenting rigged character animations with secondary motion. At the core of our method is a novel deformation subspace based on Linear Blend Skinning that overcomes…
We present a novel framework for rigid body dynamics in ambient media, such as air or water, enabling accurate motion prediction of objects without requiring computational fluid dynamics simulations. Our method computes the added mass of…
Secondary animation effects are essential for liveliness. We propose a simple, real-time solution for adding them on top of standard skinning, enabling artist-driven stylization of skeletal motion. Our method takes a standard skeleton…
Alignment between real and virtual objects is a challenging task required for the deployment of Mixed Reality (MR) into manufacturing, medical, and construction applications. To face this challenge, a series of methods have been proposed.…
Robots often interact with the world via attached parts such as wheels, joints, or appendages. In many systems, these interactions, and the manner in which they lead to locomotion, can be understood using the machinery of geometric…
It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…
Real-time character animation in dynamic environments requires the generation of plausible upper-body movements regardless of the nature of the environment, including non-rigid obstacles such as vegetation. We propose a flexible model for…
We present an additive approach for the inverse design of kirigami-based mechanical metamaterials by focusing on the empty (negative) spaces instead of the solid tiles. By considering each negative space as a four-bar linkage, we identify a…
We show that physics-based simulations can be seamlessly integrated with NeRF to generate high-quality elastodynamics of real-world objects. Unlike existing methods, we discretize nonlinear hyperelasticity in a meshless way, obviating the…
The motion-induced drag force acting on a particle moving parallel to an arrangement of $N$ objects is analyzed. Particular focus is placed on the nonequilibrium statistics of the interaction and on the interplay between the system's…
We present a framework of elastic locomotion, which allows users to enliven an elastic body to produce interesting locomotion by prescribing its high-level kinematics. We formulate this problem as an inverse simulation problem and seek the…
We describe how to construct the dynamics of relativistic particles following, either timelike or null curves, by means of an auxiliary variables method instead of the standard theory of deformations for curves. There are interesting…
Interactive applications demand believable characters that respond naturally to dynamic environments. Traditional character animation techniques often struggle to handle arbitrary situations, leading to a growing trend of dynamically…
Rigid body interactions are fundamental to numerous scientific disciplines, but remain challenging to simulate due to their abrupt nonlinear nature and sensitivity to complex, often unknown environmental factors. These challenges call for…
Design requirements for moving parts in mechanical assemblies are typically specified in terms of interactions with other parts. Some are purely kinematic (e.g., pairwise collision avoidance) while others depend on physics and material…
With new advancements in interaction techniques, character animation also requires new methods, to support fields such as robotics, and VR/AR. Interactive characters in such fields are becoming driven by AI which opens up the possibility of…
We present Kinodynamic RRT*, an incremental sampling-based approach for asymptotically optimal motion planning for robots with linear differential constraints. Our approach extends RRT*, which was introduced for holonomic robots (Karaman et…
Movie productions use high resolution 3d characters with complex proprietary rigs to create the highest quality images possible for large displays. Unfortunately, these 3d assets are typically not compatible with real-time graphics engines…
Synthesizing graceful and life-like behaviors for physically simulated characters has been a fundamental challenge in computer animation. Data-driven methods that leverage motion tracking are a prominent class of techniques for producing…
A longstanding goal in character animation is to combine data-driven specification of behavior with a system that can execute a similar behavior in a physical simulation, thus enabling realistic responses to perturbations and environmental…