物理仿真虚拟人运动交互控制技术研究

项目名称： 物理仿真虚拟人运动交互控制技术研究

项目编号： No.61202338

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 计算机科学学科

项目作者： 李石磊

作者单位： 中国人民解放军海军工程大学

项目金额： 24万元

中文摘要： 物理仿真方法产生的虚拟人运动可以克服数据驱动方法受限于动作样本库的缺陷，成为数据驱动方法的必然补充和深化。但由于人体运动系统的主动性、冗余性和欠驱动特性，物理仿真虚拟人的可控性成为亟待解决的瓶颈问题。 项目具体研究内容包括：在底层，研究动力学仿真计算过程中前瞻控制量的确定及其在线规划控制算法，增强控制器的鲁棒性和反应性；研究运动学约束的精确满足方法，提高物理仿真方法的控制精度；在高层，以任务为中心对底层控制器进行抽象，研究多控制器在时间轴上的衔接集成算法，提高对任务空间的覆盖能力。主要创新和特色在于整个思路框架从不同侧面在高低两个不同层次上协调一致的对物理仿真虚拟人交互控制技术进行研究，拟使物理仿真虚拟人能最大限度地适应各种难以预料的交互控制输入和虚拟场景的动态变化。 项目力图建立一套全面增强物理仿真虚拟人运动交互可控性的技术框架，对虚拟人交互控制技术的发展和完善具有重要的理论与实用价值

中文关键词： 虚拟人；交互控制；多控制器集成；前瞻控制；运动规划

英文摘要： Despite the fact that physically simulated characters can overcome the inherent drawback of data-driven methods which are restricted by the scale and contents of the available motion samples, the use of physics-based simulation in virtual characters animation is still limited because of the challenges such as activeness, redundancy and under-actuation faced in the process of human movements modeling. The controllability of physically simulated characters becomes the bottleneck problem which needs to be solved for the furthe development of the virtual characters animation technology. In order to make physically simulated characters response adaptively and life-likely to different unpredicted interactive control inputs from users or dynamic changes in external environments to the largest extent, the interactive control difficulties in physically simulated characters are solved coordinately under the high and low level from different aspects. For the low-level control aspects, firstly, the determination of preview control variables and their corresponding on-line planning based on the simplified dynamic model are researched to increase the robustness and responsiveness of physical controllers. Secondly, the method to satisfy kinematic constraints is provided to increase the control precision. For the high-level con

英文关键词： Virtual Characters；Interactive Control；Multi-Controllers Integration；Preview Control；Motion Planning