Sciweavers

Share
TOG
2012

Discovery of complex behaviors through contact-invariant optimization

8 years 3 months ago
Discovery of complex behaviors through contact-invariant optimization
We present a motion synthesis framework capable of producing a wide variety of important human behaviors that have rarely been studied, including getting up from the ground, crawling, climbing, moving heavy objects, acrobatics (hand-stands in particular), and various cooperative actions involving two characters and their manipulation of the environment. Our framework is not specific to humans, but applies to characters of arbitrary morphology and limb configuration. The approach is fully automatic and does not require domain knowledge specific to each behavior. It also does not require pre-existing examples or motion capture data. At the core of our framework is the contact-invariant optimization (CIO) method we introduce here. It enables simultaneous optimization of contact and behavior. This is done by augmenting the search space with scalar variables that indicate whether a potential contact should be active in a given phase of the movement. These auxiliary variables affect not ...
Igor Mordatch, Emanuel Todorov, Zoran Popovic
Added 28 Sep 2012
Updated 28 Sep 2012
Type Journal
Year 2012
Where TOG
Authors Igor Mordatch, Emanuel Todorov, Zoran Popovic
Comments (0)
books