Hybrid Controller Based on Motion Capture System
A hybrid controller is proposed in this paper combining motion capture data tracking, root trajectory interpolation and physics-based approach. To demonstrate the controller, walking is adopted as an instance, whose cycle is simplified into four key states denoted by Finite state machine. Given these key poses from motion capture system as inputs, the intermediate frames are generated automatically by applying proportional derivative (PD) controller, whose parameters are self-adapting rather than manual tuning. The root trajectory is determined by interpolation method. In addition, user specified walking speeds and step lengths can be achieved by editing root global position. The results demonstrate our controller can produce reliable walking motion by physical interpolation between four key poses.
Physics-based animation PD controller motion capture data Interpolation Finite State Machine
Xiaona Li Zhengxu Zhao Wenhu Qin
School of Instrument Science and Engineering Southeast University Nanjing, China School of Information Science and Technology Shijiazhuang Tiedao University Shijiazhuang, China
国际会议
太原
英文
63-67
2011-02-26（万方平台首次上网日期，不代表论文的发表时间）