观察您的步步: 实时适应性字符步进 (Watch Your Step: Real-Time Adaptive Character Stepping)

An effective 3D stepping control algorithm that is computationally fast, robust, and easy to implement is extremely important and valuable to character animation research. In this paper, we present a novel technique for generating dynamic, interactive, and controllable biped stepping motions. Our approach uses a low-dimensional physics-based model to create balanced humanoid avatars that can handle a wide variety of interactive situations, such as terrain height shifting and push exertions, while remaining upright and balanced. We accomplish this by combining the popular inverted-pendulum model with an ankle-feedback torque and variable leg-length mechanism to create a controllable solution that can adapt to unforeseen circumstances in real-time without key-framed data, any offline pre-processing, or on-line optimizations joint torque computations. We explain and address oversimplifications and limitations with the basic IP model and the reasons for extending the model by means of additional control mechanisms. We demonstrate a simple and fast approach for extending the IP model based on an ankle-torque and variable leg lengths approximation without hindering the extremely attractive properties (i.e., computational speed, robustness, and simplicity) that make the IP model so ideal for generating upright responsive balancing biped movements. Finally, while our technique focuses on lower body motions, it can, nevertheless, handle both small and large push forces even during terrain height variations. Moreover, our model effectively creates human-like motions that synthesize low-level upright stepping movements, and can be combined with additional controller techniques to produce whole body autonomous agents.

翻译：高效的 3D 阶梯控制算法,即计算快速、稳健和易于执行的3D 阶梯控制算法,对于性格动画研究来说极为重要和宝贵。在本文中,我们展示了一种创新的技术,用于产生动态、互动和可控制的双向踏脚动作。我们的方法使用一种基于低维物理的模型,以创造平衡的人类类动画模型,这种模型能够处理各种各样的互动情况,例如地形高度的移动和推力,同时保持直率和平衡。我们通过将流行的倒向式反弹模型与脚踝和可变腿长机制结合起来,以创造一种可控的解决方案,在没有关键框架数据、任何离线预处理或在线优化组合式双向踏脚动作的情况下,可以实时适应无法预见的情况。我们的方法可以解释和解决与基本IP模型的简单化和限制,同时保持正向和平衡。我们的IP模型以脚踝和可变长腿机制为基础,可以扩展一个简单和快速的方法,在不阻碍极具吸引力的实时的实时实时情况下, 能够有效地调整和快速地、快速地、快速地、快速地计算、快速地、快速地、快速地、快速地、和快速地、制动、和快速地、快速地、快速地、快速地、快速地、快速地、快速地、快速地、快速地、快速地、快速地、快速地、快速地、快速地、快速地、快速地、快速地、快速地、快速地、快速地、快速地、快速地、快速地、快速地、制动、制动。