Related papers: Soft Walks: Real-Time, Two-Ways Interaction betwee…
Step-and-project is a popular way to simulate non-penetrated deformable bodies in physically-based animation. First integrating the system in time regardless of contacts and post resolving potential intersections practically strike a good…
We present an efficient spacetime optimization method to automatically generate animations for a general volumetric, elastically deformable body. Our approach can model the interactions between the body and the environment and automatically…
Limbless terrestrial animals exhibit exceptional locomotor versatility and control, currently unmatched by engineered counterparts. Here, we introduce a computational framework that enables soft synthetic snakes to navigate unstructured,…
To traverse complex three-dimensional terrainwith large obstacles, animals and robots must transition across different modes. However, the most mechanistic understanding of terrestrial locomotion concerns how to generate and stabilize…
Realistic dynamic garments on animated characters have many AR/VR applications. While authoring such dynamic garment geometry is still a challenging task, data-driven simulation provides an attractive alternative, especially if it can be…
Gait recognition has a rapid development in recent years. However, gait recognition in the wild is not well explored yet. An obvious reason could be ascribed to the lack of diverse training data from the perspective of intrinsic and…
In shared spaces, motorized and non-motorized road users share the same space with equal priority. Their movements are not regulated by traffic rules, hence they interact more frequently to negotiate priority over the shared space. To…
We present PACE, a novel method for modifying motion-captured virtual agents to interact with and move throughout dense, cluttered 3D scenes. Our approach changes a given motion sequence of a virtual agent as needed to adjust to the…
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…
Stability of running on rough terrain depends on the propagation of perturbations due to the ground. We consider stability within the sagittal plane and model the dynamics of running as a two-dimensional body with an alternating aerial and…
Bipeds have demonstrated high agility and mobility in unstructured environments such as sand. The yielding of such granular media brings significant sinkage and slip of the bipedal feet, leading to uncertainty and instability of walking…
In this paper, with a view toward deployment of light-weight control frameworks for bipedal walking robots, we realize end-foot trajectories that are shaped by a single linear feedback policy. We learn this policy via a model-free and a…
We present a new framework to generate human-like lower-limb trajectories in periodic and non-periodic walking conditions. In our method, walking dynamics is encoded in 3LP, a linear simplified model composed of three pendulums to model…
Snakes can traverse almost all types of environments by bending their elongate bodies in 3-D to interact with the terrain. Similarly, a snake robot is a promising platform to perform critical tasks in various environments. Understanding how…
We find, and analyse, the exact solution of two friendly directed walks, modelling polymers, which interact with a wall via contact interactions. We specifically consider two walks that begin and end together so as to imitate a polygon. We…
We propose a novel mechanism that propagates vibration through soft twisted beams, taking advantage of dynamically-coupled anisotropic stiffness to simplify the actuation of walking robots. Using dynamic simulation and experimental…
We present a method for reproducing complex multi-character interactions for physically simulated humanoid characters using deep reinforcement learning. Our method learns control policies for characters that imitate not only individual…
Given unstructured videos of deformable objects, we automatically recover spatiotemporal correspondences to map one object to another (such as animals in the wild). While traditional methods based on appearance fail in such challenging…
Simulating realistic interaction and motions for physics-based characters is of great interest for interactive applications, and automatic secondary character animation in the movie and video game industries. Recent works in reinforcement…
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…