“Limit cycle control and its application to the animation of balancing and walking” by Laszlo, Panne and Fiume

  • ©Joseph Laszlo, Michiel van de Panne, and Eugene Fiume

Conference:


Type:


Title:

    Limit cycle control and its application to the animation of balancing and walking

Presenter(s)/Author(s):


Abstract:


    Seemingly simple behaviors such as human walking are difficult to model because of their inherent instability. Kinematic animation techniques can freely ignore such intrinsically dynamic problems, but they therefore also miss modeling important motion characteristics. On the other hand, the effect of balancing can emerge in a physically-based animation, but it requires computing delicate control strategies. We propose an alternative method that adds closed-loop feedback to open-loop periodic motions. We then apply our technique to create robust walking gaits for a fully-dynamic 19 degree-of-freedom human model. Important global characteristics such as direction, speed and stride rate can be controlled by changing the open-loop behavior alone or through simple control parameters, while continuing to employ the same local stabilization technique. Among other features, our dynamic “human” walking character is thus able to follow desired paths specified by the animator.

References:


    1. J. AUSLANDER ET AL. Further Experience With Controller-based Automatic Motion Synthesis For Articulated Figures. ACM Transactions on Graphics, October 1995.
    2. N.I. BADLER, B. BARSKY and D. ZELTZER. Making them move. Morgan Kaufmann Publishers Inc., 1991.
    3. R. BOULIC, N. M. THALMANN and D. THALMANN. A Global Human Walking Model With Real-time Kinematic Personification. The Visual Computer, 6, 1990, pp. 344-358.
    4. A. BRUDERLIN and T. W. CALVERT. Goal-Directed Animation of Human Walking. Proceedings of SIGGRAPH 89 (1989), In Computer Graphics 23, 4, (1989), pp. 233-242.
    5. A. BRUDERLIN and T. W. CALVERT. Interactive Animation of Personalized Human Locomotion. Proceedings of Graphics Interface (1993), pp. 17-23.
    6. A. BRUDERLIN and L. WILLIAMS. Motion Signal Processing. Proceedings of SIGGRAPH 95 (Los Angeles, August,1995). In Computer Graphics Proceedings, Annual Conference Series, 1994, ACM SIG- GRAPH, pp. 97-104.
    7. H.C. CHANG, ET AL. A General Approach For Constructing The Limit Cycle Loci Of Multiple-Nonlinearity Systems. IEEE Transactions on Automatic Control, AC-32, 9, 1987, pp. 845-848.
    8. W.T. DEMPSTER and G. R. L. GAUGHRAN. Properties Of Body Segments Based On Size And Weight. American Journal of Anatomy, 1965, 120, 33-54.
    9. J. FURUSHO and M. MAUBUCHI. A Theoretically Motivated Reduced Order Model for the Control of Dynamic Biped Locomotion. Journal of Dynamic Systems, Measurement, and Control, 109, 1987, pp. 155- 163.
    10. J. FURUSHO and A. SANO. Sensor-Based Control of a Nine-Link Robot. The International Journal of Robotics Research, 9, 2, 1990, pp. 83-98.
    11. M. GIRARD. Interactive Design Of Computer-animated Legged Animal Motion. IEEE Computer Graphics and Applications, 7, 6, June, 1987, pp. 39-51.
    12. C.L. GOLLIDAY and H. HEMAMI. An Approach to Analyzing Biped Locomotion Dynamics and Designing Robot Locomotion Controls. IEEE Transactions on Automatic Control, AC-22, 6, 1970, pp. 963- 972.
    13. R. GRZESZCZUK and D. TERZOPOULOS. Automated Learning of Muscle-Actuated Locomotion Through Control Abstraction. Proceedings of SIGGRAPH 95 (Los Angeles, California, August 1995). In Computer Graphics Proceedings, Annual Conference Series, 1994, ACM SIGGRAPH, pp. 63-70.
    14. H.M. HMAM and D. A. LAWRENCE. Robustness Analysis of Nonlinear Biped Control Laws Via Singular Perturbation Theory. Proceedings of the 31 st IEEE Conference on Decision and Control, 1992, pp. 2656-2661.
    15. J.K. HODGINS ET AL. Animating Human Athletics. Proceedings of SIGGRAPH 95 (Los Angeles, August, 1995). In Computer Graphics Proceedings, Annual Conference Series, 1995, ACM SIGGRAPH, pp. 71-78.
    16. R. KATOH and M. MORI. Control Method of Biped Locomotion Giving Asymptotic Stability Of Trajectory. Automatica, 20, 1984, pp. 405-414.
    17. H. KO and N. I. BADLER. Straight Line Walking Animation Based on Kinematic Generalization that Preserves the Original Characteristics. Proceedings of Graphics Interface ’93, 1993, pp. 9-16.
    18. D.E. KODITSCHEK and M. BOHLER. Analysis Of A Simplified Hopping Robot. The International Journal of Robotics Research, 10, 6, 1991, pp. 587-605.
    19. J.F. LASZLO. Controlling Bipedal Locomotion for Computer Animation, M.A.Sc. thesis, University of Toronto, 1996. URL: <www.dgp.utoronto.ca/Njflaszlo>
    20. J.M. LIN and K. W. HAN. Reducing The Effects Of Model Reduction On Stability Boundaries And Limit-Cycle Characteristics. IEEE Transactions on Automatic Control, AC-31, 6, 1986, pp. 567-569.
    21. T. MCGEER. Passive Dynamic Walking. The International Journal of Robotics Research, 9, 2, 1990, pp. 62-82.
    22. T. MCGEER. Passive Walking with Knees. Proceedings of IEEE International Conference on Robotics and Automation, 1990, pp. 1640- 1645.
    23. M. MCKENNA and D. ZELTZER. Dynamic Simulation of Autonomous Legged Locomotion. Proceedings of SIGGRAPH 90 (1990). In Computer Graphics (1991), pp. 29-38.
    24. H. MIURA and I. SHIMOYAMA. Dynamic Walk Of A Biped. International Journal of Robotics Research, Summer 1984, pp. 60-74.
    25. J.T. NGO and J. MARKS. Spacetime Constraints Revisited. Proceedings of SIGGRAPH 93 (1993). In Computer Graphics Proceedings, Annual Conference Series, 1993, ACM SIGGRAPH, pp. 343-350.
    26. M. H. RAIBERT. Legged Robots that Balance. MIT Press, 1986.
    27. M.H. RAIBERT and J. K. HODGINS. Animation Of Dynamic Legged Locomotion. Proceedings of SIGGRAPH 91 (1991). In Computer Graphics, 1991, pp. 349-358.
    28. SYMBOLIC DYNAMICS INC. SD/Fast User’s Manual, 1990.
    29. K. SIMS. Evolving Virtual Creatures. Proceedings of SIGGRAPH 94 (Orlando, Florida, July, 1994). In Computer Graphics Proceedings, Annual Conference Series, 1994, ACM SIGGRAPH, pp. 15-22.
    30. A.J. STEWART and J. F. CREMER. Beyond Keyframing: An Algorithmic Approach to Animation. Proceedings of Graphics Interface ’92, 1992, pp. 273-281.
    31. M. UNUMA, K. ANJYO and R. TAKEUCHI. Fourier Principles for Emotion-based Human Figure Animation. Proceedings of SIG- GRAPH 95 (Los Angeles, California, August, 1995). In Computer Graphics Proceedings, Annual Conference Series, 1995, ACM SIG- GRAPH, pp. 91-96.
    32. M. VAN DE PANNE and E. FIUME. Sensor-Actuator Networks. Proceedings of SIGGRAPH 93, (1993). In Computer Graphics Proceedings, Annual Conference Series, 1993, ACM SIGGRAPH, pp. 335- 342.
    33. M. VAN DE PANNE, R. KIM and E. FIUME. Virtual Wind-up Toys for Animation. Proceedings of Graphics Interface ’94, 1994, pp. 208-215.
    34. H. G. VISSER and J. SHINAR. First-Order Corrections In Optimal Feedback Control Of Singularly Perturbed Nonlinear Systems. IEEE Transactions on Automatic Control, AC-31, 5, 1986, pp. 387-393.
    35. VUKOBRATOVIC ET AL. Biped Locomotion: Dynamics, Stability, Control and Applications, Springer Verlag, 1990.
    36. A. WITKIN and Z. POPOVI’C. Motion Warping. Proceedings of SIG- GRAPH 95 (Los Angeles, California, August, 1995). In Computer Graphics Proceedings, Annual Conference Series, 1995 ACM SIG- GRAPH, pp. 105-107.
    37. W.L. WOOTEN and J. K. HODGINS. Simulation Of Human Diving. Proceedings of Graphics Interface ’95, 1995, pp. 1-9.

ACM Digital Library Publication:


Overview Page: