Locomotion Control with Inverted Pendulum Model and Hierarchical Low-Dimensional Data
Summary :
This paper presents an interactive locomotion controller using motion capture data and an inverted pendulum model (IPM). The motion data of a character is decomposed into those of upper and lower bodies, which are then dimension-reduced via what we call hierarchical Gaussian process dynamical model (H-GPDM). The locomotion controller receives the desired walking direction from the user. It is integrated into the IPM to determine the pose of the center of mass and the stance-foot position of the character. They are input to the H-GPDM, which interpolates the low-dimensional data to synthesise a redirected motion sequence on an uneven surface. The locomotion controller allows the upper and lower bodies to be independently controlled and helps us generate natural locomotion. It can be used in various real-time applications such as games.
- Publication
- IEICE TRANSACTIONS on Information Vol.E100-D No.11 pp.2744-2746
- Publication Date
- 2017/11/01
- Publicized
- 2017/07/27
- Online ISSN
- 1745-1361
- DOI
- 10.1587/transinf.2017EDL8106
- Type of Manuscript
- LETTER
- Category
- Computer Graphics
Authors
Ku-Hyun HAN
Korea University
Byung-Ha PARK
Korea Electronics Technology Institute
Kwang-Mo JUNG
Korea Electronics Technology Institute
JungHyun HAN
Korea University
Keyword
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Ku-Hyun HAN, Byung-Ha PARK, Kwang-Mo JUNG, JungHyun HAN, "Locomotion Control with Inverted Pendulum Model and Hierarchical Low-Dimensional Data" in IEICE TRANSACTIONS on Information,
vol. E100-D, no. 11, pp. 2744-2746, November 2017, doi: 10.1587/transinf.2017EDL8106.
Abstract: This paper presents an interactive locomotion controller using motion capture data and an inverted pendulum model (IPM). The motion data of a character is decomposed into those of upper and lower bodies, which are then dimension-reduced via what we call hierarchical Gaussian process dynamical model (H-GPDM). The locomotion controller receives the desired walking direction from the user. It is integrated into the IPM to determine the pose of the center of mass and the stance-foot position of the character. They are input to the H-GPDM, which interpolates the low-dimensional data to synthesise a redirected motion sequence on an uneven surface. The locomotion controller allows the upper and lower bodies to be independently controlled and helps us generate natural locomotion. It can be used in various real-time applications such as games.
URL: https://global.ieice.org/en_transactions/information/10.1587/transinf.2017EDL8106/_p
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@ARTICLE{e100-d_11_2744,
author={Ku-Hyun HAN, Byung-Ha PARK, Kwang-Mo JUNG, JungHyun HAN, },
journal={IEICE TRANSACTIONS on Information},
title={Locomotion Control with Inverted Pendulum Model and Hierarchical Low-Dimensional Data},
year={2017},
volume={E100-D},
number={11},
pages={2744-2746},
abstract={This paper presents an interactive locomotion controller using motion capture data and an inverted pendulum model (IPM). The motion data of a character is decomposed into those of upper and lower bodies, which are then dimension-reduced via what we call hierarchical Gaussian process dynamical model (H-GPDM). The locomotion controller receives the desired walking direction from the user. It is integrated into the IPM to determine the pose of the center of mass and the stance-foot position of the character. They are input to the H-GPDM, which interpolates the low-dimensional data to synthesise a redirected motion sequence on an uneven surface. The locomotion controller allows the upper and lower bodies to be independently controlled and helps us generate natural locomotion. It can be used in various real-time applications such as games.},
keywords={},
doi={10.1587/transinf.2017EDL8106},
ISSN={1745-1361},
month={November},}
Copy
TY - JOUR
TI - Locomotion Control with Inverted Pendulum Model and Hierarchical Low-Dimensional Data
T2 - IEICE TRANSACTIONS on Information
SP - 2744
EP - 2746
AU - Ku-Hyun HAN
AU - Byung-Ha PARK
AU - Kwang-Mo JUNG
AU - JungHyun HAN
PY - 2017
DO - 10.1587/transinf.2017EDL8106
JO - IEICE TRANSACTIONS on Information
SN - 1745-1361
VL - E100-D
IS - 11
JA - IEICE TRANSACTIONS on Information
Y1 - November 2017
AB - This paper presents an interactive locomotion controller using motion capture data and an inverted pendulum model (IPM). The motion data of a character is decomposed into those of upper and lower bodies, which are then dimension-reduced via what we call hierarchical Gaussian process dynamical model (H-GPDM). The locomotion controller receives the desired walking direction from the user. It is integrated into the IPM to determine the pose of the center of mass and the stance-foot position of the character. They are input to the H-GPDM, which interpolates the low-dimensional data to synthesise a redirected motion sequence on an uneven surface. The locomotion controller allows the upper and lower bodies to be independently controlled and helps us generate natural locomotion. It can be used in various real-time applications such as games.
ER -
English
