“Contact-aware nonlinear control of dynamic characters” by Muico, Lee, Popović and Popovic

  • ©Uldarico Muico, Yongjoon Lee, Jovan Popović, and Zoran Popovic

Conference:


Type:


Title:

    Contact-aware nonlinear control of dynamic characters

Presenter(s)/Author(s):



Abstract:


    Dynamically simulated characters are difficult to control because they are underactuated—they have no direct control over their global position and orientation. In order to succeed, control policies must look ahead to determine stabilizing actions, but such planning is complicated by frequent ground contacts that produce a discontinuous search space. This paper introduces a locomotion system that generates high-quality animation of agile movements using nonlinear controllers that plan through such contact changes. We demonstrate the general applicability of this approach by emulating walking and running motions in rigid-body simulations. Then we consolidate these controllers under a higher-level planner that interactively controls the character’s direction.

References:


    1. Abe, Y., da Silva, M., and Popović, J. 2007. Multiobjective control with frictional contacts. In Symposium on Computer Animation (SCA), 249–258. Google ScholarDigital Library
    2. Anitescu, M., and Potra, F. A. 1997. Formulating dynamic multi-rigid-body contact problems with friction as solvable linear complementarity problems. nonlinear dynamics. Nonlinear Dynamics 14, 231–247.Google ScholarCross Ref
    3. Atkeson, C. G., and Morimoto, J. 2002. Nonparametric representation of policies and value functions: A trajectory-based approach. In Advances in Neural Information Processing Systems (NIPS), vol. 15. 1611–1618.Google Scholar
    4. Atkeson, C. G. 1994. Using local trajectory optimizers to speed up global optimization in dynamic programming. In Advances in Neural Information Processing Systems (NIPS), vol. 6, 663–670.Google Scholar
    5. Barbič, J., and Popović, J. 2008. Real-time control of physically based simulations using gentle forces. ACM Transactions on Graphics 27, 4, 163:1–163:10. Google ScholarDigital Library
    6. Betts, J. T., and Huffman, W. P. 1997. Sparse optimal control software socs. Tech. Rep. MEA-LR-085, Boeing Information and Support Services, The Boeing Co., Seattle, USA.Google Scholar
    7. Brotman, L. S., and Netravali, A. N. 1988. Motion interpolation by optimal control. In Computer Graphics (Proceedings of SIGGRAPH 88), 309–315. Google ScholarDigital Library
    8. Byl, K., and Tedrake, R. 2008. Approximate optimal control of the compass gait on rough terrain. In International Conference on Robotics and Automation (ICRA), 1258–1263.Google Scholar
    9. Cohen, M. F. 1992. Interactive spacetime control for animation. In Computer Graphics (Proceedings of SIGGRAPH 92), vol. 26, 293–302. Google ScholarDigital Library
    10. Coros, S., Beaudoin, P., Yin, K. K., and van de Pann, M. 2008. Synthesis of constrained walking skills. ACM Transactions on Graphics 27, 5, 113:1–113:9. Google ScholarDigital Library
    11. Cottle, R., Pang, J., and Stone, R. 1992. The Linear Complementarity Problem. Academic Press, San Diego.Google Scholar
    12. da Silva, M., Abe, Y., and Popović, J. 2008. Simulation of human motion data using short-horizon model-predictive control. Computer Graphics Forum 27, 2, 371–380.Google ScholarCross Ref
    13. da Silva, M., Abe, Y., and Popović, J. 2008. Interactive simulation of stylized human locomotion. ACM Transactions on Graphics 27, 3, 82:1–82:10. Google ScholarDigital Library
    14. Faloutsos, P., van de Panne, M., and Terzopoulos, D. 2001. Composable controllers for physics-based character animation. In Proceedings of ACM SIGGRAPH 2001, Annual Conference Series, 251–260. Google ScholarDigital Library
    15. Fang, A. C., and Pollard, N. S. 2003. Efficient synthesis of physically valid human motion. ACM Transactions on Graphics 22, 3, 417–426. Google ScholarDigital Library
    16. Fujimoto, Y., Obata, S., and Kawamura, A. 1998. Robust biped walking with active interaction control between foot and ground. In International Conference on Robotics and Automation (ICRA), 2030–2035.Google Scholar
    17. Hirai, K., Hirose, M., Haikawa, Y., and Takenaka, T. 1998. The development of honda humanoid robot. In International Conference on Robotics and Automation (ICRA), 1321–1326.Google Scholar
    18. Hodgins, J. K., and Pollard, N. S. 1997. Adapting simulated behaviors for new characters. In Proceedings of SIGGRAPH 97, Computer Graphics Proceedings, Annual Conference Series, 153–162. Google ScholarDigital Library
    19. Hodgins, J. K., Wooten, W. L., Brogan, D. C., and O’Brien, J. F. 1995. Animating human athletics. In Proceedings of ACM SIGGRAPH 95, Annual Conference Series, 71–78. Google ScholarDigital Library
    20. Kolter, J. Z., Coates, A., Ng, A. Y., Gu, Y., and DuHadway, C. 2008. Space-indexed dynamic programming: learning to follow trajectories. In ICML ’08: Proceedings of the 25th International Conference on Machine Learning, 488–495. Google ScholarDigital Library
    21. Laszlo, J. F., van de Panne, M., and Fiume, E. L. 1996. Limit cycle control and its application to the animation of balancing and walking. In Proceedings of SIGGRAPH 96, Annual Conference Series, 155–162. Google ScholarDigital Library
    22. Lewis, F. L., and Syrmos, V. L. 1995. Optimal Control. John Wiley & Sons, Inc., New York, NY, USA.Google Scholar
    23. Liu, C. K., Hertzmann, A., and Popović, Z. 2005. Learning physics-based motion style with nonlinear inverse optimization. ACM Transactions on Graphics 24, 3, 1071–1081. Google ScholarDigital Library
    24. McCann, J., and Pollard, N. 2007. Responsive characters from motion fragments. ACM Transactions on Graphics 26, 3, 6:1–6:7. Google ScholarDigital Library
    25. Miura, H., and Shimoyama, I. 1984. Dynamic walk of a biped. International Journal of Robotics Research 3, 2, 60–74.Google ScholarCross Ref
    26. Ngo, J. T., and Marks, J. 1993. Spacetime constraints revisited. In Proceedings of ACM SIGGRAPH 2000, Annual Conference Series, 343–350. Google ScholarDigital Library
    27. Pearson, J. D. 1962. Approximation methods in optimal control. Journal of Electronics and Control 13, 453–465.Google ScholarCross Ref
    28. Popović, Z., and Witkin, A. P. 1999. Physically based motion transformation. In Computer Graphics (Proceedings of SIGGRAPH 99), Annual Conference Series, 11–20. Google ScholarDigital Library
    29. Raibert, M. H., and Hodgins, J. K. 1991. Animation of dynamic legged locomotion. In Computer Graphics (Proceedings of SIGGRAPH 91), ACM SIGGRAPH, Annual Conference Series, 349–358. Google ScholarDigital Library
    30. Raibert, M. H. 1986. Legged Robots That Balance. MIT Press, Cambridge, MA. Google ScholarDigital Library
    31. Safonova, A., Hodgins, J., and Pollard, N. 2004. Synthesizing physically realistic human motion in low-dimensional, behavior-specific spaces. ACM Transactions on Graphics 23, 3, 514–521. Google ScholarDigital Library
    32. Sharon, D., and van de Panne, M. 2005. Synthesis of controllers for stylized planar bipedal walking. In International Conference on Robotics and Automation (ICRA), 2387–2392.Google Scholar
    33. Sok, K. W., Kim, M., and Lee, J. 2007. Simulating biped behaviors from human motion data. ACM Transactions on Graphics 26, 3, 107:1–107:9. Google ScholarDigital Library
    34. Stewart, A. J., and Cremer, J. F. 1989. Algorithmic control of walking. In International Conference on Robotics and Automation (ICRA), 1598–1603.Google Scholar
    35. Stewart, D. E., and Trinkle, J. C. 1996. An implicit time-stepping scheme for rigid body dynamics with inelastic collisions and coulomb friction. International Journal for Numerical Methods in Engineering 39, 15, 2673–2691.Google ScholarCross Ref
    36. Sulejmanpasić, A., and Popović, J. 2005. Adaptation of performed ballistic motion. ACM Transactions on Graphics 24, 1, 165–179. Google ScholarDigital Library
    37. Tassa, Y., Erez, T., and Smart, W. 2008. Receding horizon differential dynamic programming. In Advances in Neural Information Processing Systems (NIPS), vol. 20. MIT Press, Cambridge, MA, 1465–1472.Google Scholar
    38. Tedrake, R. L. 2004. Applied Optimal Control for Dynamically Stable Legged Locomotion. PhD thesis, Massachusetts Institute of Technology, Cambridge, MA. Google ScholarDigital Library
    39. Treuille, A., Lee, Y., and Popović, Z. 2007. Near-optimal character animation with continuous control. ACM Transactions on Graphics 26, 3, 7:1–7:7. Google ScholarDigital Library
    40. Vukobratovic, M., and Juricic, D. 1969. Contribution to the synthesis of biped gait. IEEE Transactions on Biomedical Engineering 16, 1–6.Google ScholarCross Ref
    41. Wernli, A., and Cook, G. 1975. Suboptimal control for the nonlinear quadratic regulator problem. Automatica 11, 75–84.Google ScholarDigital Library
    42. Westervelt, E., Grizzle, J., and Koditschek, D. 2003. Hybrid zero dynamics of planar biped walkers. IEEE Transactions on Automatic Control 48, 1, 42–56.Google ScholarCross Ref
    43. Wieber, P.-B., and Chevallereau, C. 2006. Online adaptation of reference trajectories for the control of walking systems. Robotics and Autonomous Systems 54, 7, 559–566.Google ScholarCross Ref
    44. Witkin, A., and Kass, M. 1988. Spacetime constraints. In Computer Graphics (Proceedings of SIGGRAPH 88), vol. 22, 159–168. Google ScholarDigital Library
    45. Yin, K., Loken, K., and van de Panne, M. 2007. SIMBICON: Simple biped locomotion control. ACM Transactions on Graphics 26, 3, 105:1–105:10. Google ScholarDigital Library


ACM Digital Library Publication:



Overview Page: