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In this paper, we present a full-body motor control mechanism that generates coordinated and diverse motion during a reaching action. Our framework animates the full human body (stretching arms, flexing of the spine, as well as stepping forward) to facilitate the desired end effector behavior. We propose a hierarchical control system for controlling the arms, spine, and legs of the articulated character...
Pose control for physically simulated characters has typically been based on proportional-derivative (PD) controllers. In this paper, we introduce a novel, analytical solution to the 2nd-order ordinary differential equation governing PD control. The analytic solution is tailored to the needs of pose control for animation, and provides significant improvement in the precision of control, particularly...
We are interested in developing real-time applications such as games or virtual prototyping that take advantage of the user full-body input to control a wide range of entities, from a self-similar avatar to any type of animated characters, including virtual humanoids with differing size and proportions. The key issue is, as always in real-time interactions, to identify the key factors that should...
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