Physics simulation offers the possibility of truly responsive and realistic animation. Despite
wide adoption of physics simulation for the animation of passive phenomena, such as fluids …

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 …

We present a muscle-based control method for simulated bipeds in which both the muscle
routing and control parameters are optimized. This yields a generic locomotion control …

We present a control strategy for physically-simulated walking motions that generalizes well
across gait parameters, motion styles, character proportions, and a variety of skills. The …

We present a dynamic controller to physically simulate under-actuated three-dimensional
full-body biped locomotion. Our data-driven controller takes motion capture reference data to …

This paper presents a physics-based locomotion controller based on online planning. At
each time-step, a planner optimizes locomotion over multiple phases of gait. Stance …

An effective 3D stepping control algorithm that is computationally fast, robust, and easy to
implement is extremely important and valuable to character animation research. In this …

We present a biped locomotion controller for humanoid models actuated by more than a
hundred Hill-type muscles. The key component of the controller is our novel algorithm that …

Character motion synthesis is the process of artificially generating natural motion for a virtual
character. In film, motion synthesis can be used to generate difficult or dangerous stunts …

We present a general approach for simulating and controlling a human character that is
riding a bicycle. The two main components of our system are offline learning and online …