This paper presents an uncomplicated dynamic controller for generating physically-plausible three-dimensional full-body biped character rise motions on-the-fly at run-time. Our low-dimensional controller uses fundamental reference information (e.g., center-of-mass, hands, and feet locations) to produce balanced biped get-up poses by means of a real-time physically-based simulation. The key idea is to use a simple approximate model (i.e., similar to the inverted-pendulum stepping model) to create continuous reference trajectories that can be seamlessly tracked by an articulated biped character to create balanced rise-motions. Our approach does not use any key-framed data or any computationally expensive processing (e.g., offline-optimization or search algorithms). We demonstrate the effectiveness and ease of our technique through example (i.e., a biped character picking itself up from different laying positions).
翻译:本文提出了一种简单的动态控制器,用于在运行时即时生成真实物理的三维全身双足角色起身动作。我们的低维控制器利用基本参考信息(例如,质心,手和脚的位置)通过实时物理模拟,生成平衡的双足起身姿势。其关键思想是使用简单的近似模型(类似于倒立摆步行模型)创建连续参考轨迹,这些轨迹可以由铰接式双足角色无缝跟踪,以创建平衡的起身动作。我们的方法不使用任何关键帧数据或任何计算量大的处理(例如,离线优化或搜索算法)。我们通过实例(即,一个双足角色从不同的俯卧位置起身)演示了我们技术的有效性和易用性。