Journal ArticleDOI
Spacetime constraints
Andrew Witkin,Michael Kass +1 more
- pp 159-168
TLDR
This work presents as examples a Luxo lamp performing a variety of coordinated motions that conform to such principles of traditional animation as anticipation, squash-and-stretch, follow-through, and timing.Abstract:
Spacetime constraints are a new method for creating character animation. The animator specifies what the character has to do, for instance, "jump from here to there, clearing a hurdle in between;" how the motion should be performed, for instance "don't waste energy," or "come down hard enough to splatter whatever you land on;" the character's physical structure---the geometry, mass, connectivity, etc. of the parts; and the physical resources' available to the character to accomplish the motion, for instance the character's muscles, a floor to push off from, etc. The requirements contained in this description, together with Newton's laws, comprise a problem of constrained optimization. The solution to this problem is a physically valid motion satisfying the "what" constraints and optimizing the "how" criteria. We present as examples a Luxo lamp performing a variety of coordinated motions. These realistic motions conform to such principles of traditional animation as anticipation, squash-and-stretch, follow-through, and timing.read more
Citations
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Momentum-based parameterization of dynamic character motion
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Real-Time Physics-Based 3D Biped Character Animation Using an Inverted Pendulum Model
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Continuation methods for adapting simulated skills
TL;DR: This work presents techniques for generalizing a controller for physics-based walking to significantly different tasks, such as climbing a large step up, or pushing a heavy object.
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Dynamic simulation of articulated rigid bodies with contact and collision
TL;DR: A novel prestabilization method that does not require tunable potentially stiff parameters as does Baumgarte stabilization is proposed, which differs from poststabilization in that it compute allowable trajectories before moving the rigid bodies to their new positions, instead of correcting them after the fact when it can be difficult to incorporate the effects of contact and collision.
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Planning with Diffusion for Flexible Behavior Synthesis
TL;DR: This paper considers what it would look like to fold as much of the trajectory optimization pipeline as possible into the modeling problem, such that sampling from the model and planning with it become nearly identical.
References
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Proceedings ArticleDOI
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