Learning force fields for limb control in character animation

This work applies vector-field-based limb control to physically simulated character animation. Vector fields of joint torques, defined over joint angle space, have been shown in the neuroscience literature to be able to generate simple reaching motions in two dimensions when linearly combined with time-varying weights. In this work, three-dimensional versions of such "basis" fields generate a similar diversity of realistic motions, while maintaining tractable control through a concise parameter space. A decomposition algorithm is presented that takes a set of limb motions and generates a set of torque fields, whose various linear combinations can generate each member of the input set, and other plausible motions. Unlike other motion extrapolators, the system extrapolates torque control programs instead of the motion paths themselves, retaining Newtonian physical correctness.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Architecture. Program In Media Arts and Sciences.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2003

Author dc:creator

• Grimes, Matthew Koichi, 1977-

Advisor dc:contributor.advisor

• Bruce M. Blumberg.

• Architecture. Program In Media Arts and Sciences.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/61546

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/61546