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 …

Physics-based simulation and control of biped locomotion is difficult because bipeds are
unstable, underactuated, high-dimensional dynamical systems. We develop a simple control …

We demonstrate a real-time simulation system capable of automatically balancing a
standing character, while at the same time tracking a reference motion and responding to …

Human motions are the product of internal and external forces, but these forces are very
difficult to measure in a general setting. Given a motion capture trajectory, we propose a …

We describe an automatic technique for generating the motion of tendons and muscles
under the skin of a traditionally animated character. This is achieved by integrating the …

Standing is a fundamental skill mastered by humans and animals alike. Although easy for
adults, it requires careful and deliberate manipulation of contact forces. The variation in …

Unlike the human face, the neck has been largely overlooked in the computer graphics
literature, this despite its complex anatomical structure and the important role that it plays in …

Modifying motion capture to satisfy the constraints of new animation is difficult when contact
is involved, and a critical problem for animation of hands. The compliance with which a …

Animated human characters in everyday scenarios must interact with the environment using
their hands. Captured human motion can provide a database of realistic examples …