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We present a computational design system that assists users to model, optimize, and fabricate quad-robots with soft skins.Our system addresses the challenging task of predicting their physical behavior by fully integrating the multibody…
Legged robots have achieved impressive feats in dynamic locomotion in challenging unstructured terrain. However, in entertainment applications, the design and control of these robots face additional challenges in appealing to human…
Human character animation is often critical in entertainment content production, including video games, virtual reality or fiction films. To this end, deep neural networks drive most recent advances through deep learning and deep…
Animated characters often move in non-physical ways and have proportions that are far from a typical walking robot. This provides an ideal platform for innovation in both mechanical design and stylized motion control. In this paper, we…
Pose-driven full-body avatars built on neural rendering produce high-quality novel views of a captured subject. Yet loose clothing and other dynamic elements deform in ways pose alone cannot explain: the same pose can correspond to many…
Retargeting motion across characters with varying body shapes while preserving interaction semantics, such as self-contact and near-body proximity, remains a challenging problem. While recent geometry-aware approaches address this by…
Under-actuated compliant robotic systems offer a promising approach to mitigating actuation and control challenges by harnessing pre-designed, embodied dynamic behaviors. This paper presents Flix-Walker, a novel, untethered,…
The quality of a simulator equipped with a haptic interface is given by the dynamical properties of its components: haptic interface, simulator and control system. Some application areas of such kind of simulator like musical synthesis,…
In this paper we address the problem of robot movement adaptation under various environmental constraints interactively. Motion primitives are generally adopted to generate target motion from demonstrations. However, their generalization…
Soft robots are naturally designed to perform safe interactions with their environment, like locomotion and manipulation. In the literature, there are now many concepts, often bio-inspired, to propose new modes of locomotion or grasping.…
Adaptive morphogenetic robots adapt their morphology and control policies to meet changing tasks and environmental conditions. Many such systems leverage soft components, which enable shape morphing but also introduce simulation and control…
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…
Microscopic robots could perform tasks with high spatial precision, such as acting in biological tissues on the scale of individual cells, provided they can reach precise locations. This paper evaluates the feasibility of in vivo locomotion…
For dynamic human motion sequences, the original KeyNode-Driven codec often struggles to retain compression efficiency when confronted with rapid movements or strong non-rigid deformations. This paper proposes a novel Bi-modal coding…
We present a learning method for predicting animation skeletons for input 3D models of articulated characters. In contrast to previous approaches that fit pre-defined skeleton templates or predict fixed sets of joints, our method produces…
Constructing and animating humans is an important component for building virtual worlds in a wide variety of applications such as virtual reality or robotics testing in simulation. As there are exponentially many variations of humans with…
This paper addresses the challenge of reconstructing an animatable human model from a multi-view video. Some recent works have proposed to decompose a non-rigidly deforming scene into a canonical neural radiance field and a set of…
Text-guided dynamic 3D character generation has advanced rapidly, yet producing high-quality motion that faithfully reflects rich textual descriptions remains challenging. Existing methods tend to generate limited sub-actions or incoherent…
Inspired by the vertebrate branch of the animal kingdom, articulated soft robots are robotic systems embedding elastic elements into a classic rigid (skeleton-like) structure. Leveraging on their bodies elasticity, soft robots promise to…
Objects that move in response to the actions of a main character often make an important contribution to the visual richness of an animated scene. We use the term "secondary motion" to refer to passive motions generated in response to the…