Simulation of Human Motion Data using Short-Horizon Model-Predictive Control
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simulation of human.pdf
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Author(s)
Abe, Y.
da Silva, Marco
Popovic, Jovan
Date Issued
April 2008
Journal
Computer Graphics Forum
Publisher
Wiley Blackwell
Citation
Da Silva, M., Y. Abe, and J. Popovic. “Simulation of Human Motion Data Using Short-Horizon Model-Predictive Control.” Computer Graphics Forum 27, no. 2 (April 2008): 371–380.
Version
Author's final manuscript
Abstract
Many data-driven animation techniques are capable of producing high quality motions of human characters. Few techniques, however, are capable of generating motions that are consistent with physically simulated environments. Physically simulated characters, in contrast, are automatically consistent with the environment, but their motions are often unnatural because they are difficult to control. We present a model-predictive controller that yields natural motions by guiding simulated humans toward real motion data. During simulation, the predictive component of the controller solves a quadratic program to compute the forces for a short window of time into the future. These forces are then applied by a low-gain proportional-derivative component, which makes minor adjustments until the next planning cycle. The controller is fast enough for interactive systems such as games and training simulations. It requires no precomputation and little manual tuning. The controller is resilient to mismatches between the character dynamics and the input motion, which allows it to track motion capture data even where the real dynamics are not known precisely. The same principled formulation can generate natural walks, runs, and jumps in a number of different physically simulated surroundings.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
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Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
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DOI of Published Version
https://doi.org/10.1111/j.1467-8659.2008.01134.x
