Movement Control Methods for Complex, Dynamically Simulated Agents Adonis Dances the Macare.pdfVIP

Movement Control Metho ds for Complex Dynamically Simulated Agents Adonis Dances the Macarena Ma ja J Mataric Victor B Zordan Zachary Mason Computer Science Department College of Computing Computer Science Department University of Southern California Georgia Institute of Technology Brandeis University Los Angeles CA Atlanta GA Waltham MA tel tel tel matariccsuscedu victorccgatech edu zmasoncsbrandeisedu Abstract area in realistic physicallybased animation where the control of dynamic simulations of human charac We describ e and compare two implemented controllers ters involving realistic physical mo dels matches the for Adonis a physically simulated humanoid torso complexity of the rob otics problem Pai Ho d one based on join tspace torques and the other on gins Wo oten Brogan OBrien Van de Panne convergent forceelds applied to the hands The two Lamouret come from dierent application domains the former We intro duce a novel approach to manipulator is a common approach in manipulator rob otics and control based on mo dels from neuroscience which graphics while the latter is inspired by biological limb employ convergent forceelds at the endp oints of control Both avoid explicit inverse kinematic calcu a manipulator We explore the feasibility of such a lations found in standard Cartesian control trading mo del f