Standing is a fundamental skill mastered by humans and animals alike. Although easy for
adults, it requires careful and deliberate manipulation of contact forces. The variation in …

Animation techniques for controlling passive simulation are commonly based on an
optimization paradigm: the user provides goals a priori, and sophisticated numerical …

We present techniques for constructing an interactive rigid body simulation system, and
describe our implementation such a system. We use a constraint-based simulation …

We present a trajectory optimization approach to animating human activities that are driven
by the lower body. Our approach is based on contact-invariant optimization. We develop a …

This paper proposes a technique for animating simulated characters to perform controlled
steps. The desired step is controlled by high-level goals, namely step position and step …

2. BACKGROUND Many solutions to animation control problems have been proposed in the
animation literature and elsewhere. In particular, there is a large body of work focussed on …

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 …

There is a large body of research on motion control of legs in human models. However, they
require specification of global paths in which to move. A method for automatically computing …

We propose the use of interactive, user-in-the-loop techniques for controlling physically-
based animated characters. With a suitably designed interface, the continuous and discrete …

We synthesize natural-looking locomotion, reaching and grasping for a virtual character in
order to accomplish a wide range of movement and manipulation tasks in real time. Our …