RECURSIVE DYNAMICS AND ADAPTIVE CONTROL FOR ANIMATING ARTICULATED FIGURES

摘要

We present a dynamic system for the guided animation ofrnarticulated fgures. Based on an eu000ecient forward dynamics sim-rnulator, we introduce a robust feedback control scheme and arnfast two-stage collision response algorithm. A user of our sys-rntem provides kinematic trajectories for selected degrees of free-rndom (DOFs) of the fgure. The output motion is fully generatedrnusing forward dynamics. The specifed motion trajectories arernthe input to a control system which computes the forces andrntorques that should be exerted to achieve the desired motion.rnThe dynamic controllers, designed based on the Model ReferencernAdaptive Control paradigm, continuously self-adjust for optimalrnperformance in trajectory following. Moreover, the user is givenrna handle on the type and speed of reaction of the fgure's con-rntrolled DOFs to sudden changes in their desired motion. Thernoverall goal of our system is to provide a platform for generat-rning and studying realistic, user controlled motion at interactivernrates. We require minimal user involvement in specifying non-rnintuitive parameters.