Motion capture-driven simulations that hit and react

ABSTRACT

Controllable, reactive human motion is essential in many video games and training environments. Characters in these applications often perform tasks based on modified motion data, but response to unpredicted events is also important in order to maintain realism. We approach the problem of motion synthesis for interactive, humanlike characters by combining dynamic simulation and human motion capture data. Our control systems use trajectory tracking to follow motion capture data and a balance controller to keep the character upright while modifying sequences from a small motion library to accomplish specified tasks, such as throwing punches or swinging a racket. The system reacts to forces computed from a physical collision model by changing stiffness and damping terms. The freestanding, simulated humans respond automatically to impacts and smoothly return to tracking. We compare the resulting motion with video and recorded human data.

REFERENCES

• 1: ANDERSSON, R. L. 1988. A Robot Ping-Pong Player. The MIT Press.
• 2: Armin Bruderlin , Lance Williams, Motion signal processing, Proceedings of the 22nd annual conference on Computer graphics and interactive techniques, p.97-104, September 1995 [doi>10.1145/218380.218421]
• 3: Kwang-Jin Choi , Sang-Hyun Park , Hyeong-Seok Ko, Processing motion capture data to achieve positional accuracy, Graphical Models and Image Processing, v.61 n.5, p.260-273, Sept. 1999 [doi>10.1006/gmip.1999.0505]
• 4: Petros Faloutsos , Michiel van de Panne , Demetri Terzopoulos, Composable controllers for physics-based character animation, Proceedings of the 28th annual conference on Computer graphics and interactive techniques, p.251-260, August 2001 [doi>10.1145/383259.383287]
• 5: FALOUTSOS, P., VAN DE PANNE, M., AND TERZOPOULOS, D. 2001. The virtual stuntman: dynamic characters with a repertoire of autonomous motor skills. Computers & Graphics 25, 6, 933-953.
• 6: Michael Gleicher, Retargetting motion to new characters, Proceedings of the 25th annual conference on Computer graphics and interactive techniques, p.33-42, July 1998 [doi>10.1145/280814.280820]
• 7: Jessica K. Hodgins , Wayne L. Wooten , David C. Brogan , James F. O'Brien, Animating human athletics, Proceedings of the 22nd annual conference on Computer graphics and interactive techniques, p.71-78, September 1995 [doi>10.1145/218380.218414]
• 8: KAWATO, M., FURUKAWA, K., AND SUZUKI, R. 1987. A hierarchical neural-network model for control and learning of voluntary movement. Biological Cybernetics 57, 169-185.
• 9: KAWATO, M. 1990. Feedback-error-learning neural network for supervised motor learning. In Advanced Neural Computers, R. Eckmiller, Ed. Elsevier Science Publishers, 365-472.
• 10: Evangelos Kokkevis , Dimitri Metaxas , Norman I. Badler, User-Controlled Physics-Based Animation for Articulated Figures, Proceedings of the Computer Animation, p.16, June 03-04, 1996
• 11: Joseph Laszlo , Michiel van de Panne , Eugene Fiume, Limit cycle control and its application to the animation of balancing and walking, Proceedings of the 23rd annual conference on Computer graphics and interactive techniques, p.155-162, August 1996 [doi>10.1145/237170.237231]
• 12: Jehee Lee , Sung Yong Shin, A hierarchical approach to interactive motion editing for human-like figures, Proceedings of the 26th annual conference on Computer graphics and interactive techniques, p.39-48, July 1999 [doi>10.1145/311535.311539]
• 13: MOLET, T., AUBEL, A., CAPIN, T., CARION, S., LEE, E., THALMANN, N. M., NOSER, H., PANDZIC, I., SANNIER, G., AND THALMANN, D. 1999. Anyone for tennis? Presence: Teleoperators and Virtual Environments 8, 2, 140-156.
• 14: OSHITA, M., AND MAKINOUCHI, A. 2001. A dynamic motion control technique for human-like articulated figures. Computer Graphics Forum 20, 3.
• 15: PAI, Y.-C., AND PATTON, J. 1997. Center of mass velocity-position prediction for balance control. Journal of Biomechanics 30, 4, 347-354.
• 16: PLAYTER, R. 2000. Physics-based simulation of running using motion capture. In Course notes for SIGGRAPH 2000, ACM SIGGRAPH.
• 17: POLLARD, N. S. 1999. Simple machines for scaling human motion. In Computer Animation and Simulation '99, Eurographics Animation Workshop, 3-11.
• 18: Zoran Popović , Andrew Witkin, Physically based motion transformation, Proceedings of the 26th annual conference on Computer graphics and interactive techniques, p.11-20, July 1999 [doi>10.1145/311535.311536]
• 19: PRATT, J. E. 1995. Virtual Model Control of a Biped Walking Robot. Masters thesis, Massachusetts Institute of Technology.
• 20: Charles Rose , Brian Guenter , Bobby Bodenheimer , Michael F. Cohen, Efficient generation of motion transitions using spacetime constraints, Proceedings of the 23rd annual conference on Computer graphics and interactive techniques, p.147-154, August 1996 [doi>10.1145/237170.237229]
• 21: Charles Rose , Michael F. Cohen , Bobby Bodenheimer, Verbs and Adverbs: Multidimensional Motion Interpolation, IEEE Computer Graphics and Applications, v.18 n.5, p.32-40, September 1998 [doi>10.1109/38.708559]
• 22: SYMBOLIC DYNAMICS INC. 1990. SD/Fast User's Manual.
• 23: Munetoshi Unuma , Ken Anjyo , Ryozo Takeuchi, Fourier principles for emotion-based human figure animation, Proceedings of the 22nd annual conference on Computer graphics and interactive techniques, p.91-96, September 1995 [doi>10.1145/218380.218419]
• 24: VAN DE PANNE, M., AND LAMOURET, A. 1995. Guided optimization for balanced locomotion. In Computer Animation and Simulation '95, Eurographics, 165-177.
• 25: Douglas J. Wiley , James K. Hahn, Interpolation Synthesis of Articulated Figure Motion, IEEE Computer Graphics and Applications, v.17 n.6, p.39-45, November 1997 [doi>10.1109/38.626968]
• 26: Andrew Witkin , Zoran Popovic, Motion warping, Proceedings of the 22nd annual conference on Computer graphics and interactive techniques, p.105-108, September 1995 [doi>10.1145/218380.218422]
• 27: WOOTEN, W. L., AND HODGINS, J. K. 2000. Simulation of leaping, tumbling, landing, and balancing humans. IEEE International Conference on Robotics and Automation.
• 28: ZORDAN, V. B., AND HODGINS, J. K. 1999. Tracking and modifying upper-body human motion data with dynamic simulation. In Computer Animation and Simulation '99, Eurographics, 13-22.
• 29: Victor Brian Zordan , Jessica K. Hodgins, Motion capture-driven simulations that hit and react, 2002

INDEX TERMS

Primary Classification:
  I. Computing Methodologies
  I.3 COMPUTER GRAPHICS
      I.3.7 Three-Dimensional Graphics and Realism
          Subjects: Animation

Keywords:
computer games, motion capture and human body simulation, physically based animation, virtual environments