Simulating 2D Gaits with a Phase-Indexed Tracking Controller

作     者：Abe, Yeuhi Popovic, Jovan 

作者机构：MIT Comp Graph Grp Comp Sci & Artificial Intelligence Lab Cambridge MA 02139 USA 

出 版 物：《IEEE COMPUTER GRAPHICS AND APPLICATIONS》 (IEEE Comput Graphics Appl)

年 卷 期：2011年第31卷第4期

页      面：22-33页

核心收录：

学科分类：0808[工学-电气工程] 08[工学] 0835[工学-软件工程] 

基　　金：Direct For Computer & Info Scie & Enginr Division of Computing and Communication Foundations Funding Source: National Science Foundation 

主　　题：animation character controller computer graphics graphics and multimedia motion constraints physical simulation tracking physical simulation MOTION SIMULATION COMPUTER GRAPHICS Gait tracking simulating tracking controller Animation 

摘      要：Tracking controllers produce realistic motion in simulations by mimicking an input motion. However, current time-indexed trackers adhere strictly to the input motion\ s timing, causing a lack of robustness. A new phase-indexed tracker for 2D characters can deviate from the input motion\ s timing. Compared to time-indexed tracking with a state-of-the-art nonlinear quadratic regulator, phase-indexed tracking can withstand force perturbations up to an order of magnitude larger. The phase-indexed controller employs motion constraints that induce a reduced dynamic for which we can design control policies that incorporate prediction.