▪ Abstract Recent interest in using modeling and simulation to study movement is driven by
the belief that this approach can provide insight into how the nervous system and muscles …

The incredible feats of athleticism demonstrated by humans are made possible in part by a
vast repertoire of general-purpose motor skills, acquired through years of practice and …

Learning physics-based locomotion skills is a difficult problem, leading to solutions that
typically exploit prior knowledge of various forms. In this paper we aim to learn a variety of …

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 …

This paper presents solutions for one requirement of autonomous characters in animation
and games: the ability to navigate around their world in a life-like and improvisational …

In this paper we present a novel method for creating realistic, controllable motion. Given a
corpus of motion capture data, we automatically construct a directed graph called a motion …

Training a bipedal character to play basketball and interact with objects, or a quadruped
character to move in various locomotion modes, are difficult tasks due to the fast and …

High-quality motion capture datasets are now publicly available, and researchers have used
them to create kinematics-based controllers that can generate plausible and diverse human …

Real-time control of three-dimensional avatars is an important problem in the context of
computer games and virtual environments. Avatar animation and control is difficult, however …

Introduction to Inverse Kinematics with Jacobian Transpose, Pseudoinverse and Damped
Least Squares methods Page 1 Introduction to Inverse Kinematics with Jacobian Transpose …