We present a Model-Predictive Control (MPC) system for online synthesis of interactive and
physically valid character motion. Our system enables a complex (36-DOF) 3D human …

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 …

Graph-based approaches for sequencing motion capture data have produced some of the
most realistic and controllable character motion to date. Most previous graph-based …

We present a physics-based approach to synthesizing motion of a virtual character in a
dynamically varying environment. Our approach views the motion of a responsive virtual …

We describe a framework for the automatic synthesis of biped locomotion controllers that
adapt to uneven terrain at run-time. The framework consists of two components: a per …

Since the advent of three dimensional computer animation, motion control for articulated
bodies such as humans has been a central problem. Two recent trends are most promising …

The goal of this research is to create physically simulated biped characters equipped with a
rich repertoire of motor skills. The user can control the characters interactively by modulating …

Some seemingly simple behaviours such as human walking are difficult to model because of
their inherent instability. This thesis proposes an approach to generating balanced 3D …

In this paper, we present an on‐line real‐time physics‐based approach to motion control
with contact repositioning based on a low‐dimensional dynamics model using example …

Human characters with a broad range of natural looking and physically realistic behaviors
will enable the construction of compelling interactive experiences. In this paper, we develop …