DC Field | Value | Language |
---|---|---|
dc.contributor.author | Eom, Haegwang | ko |
dc.contributor.author | Han, Daseong | ko |
dc.contributor.author | Shin, Joseph S. | ko |
dc.contributor.author | Noh, Junyong | ko |
dc.date.accessioned | 2020-03-19T01:26:22Z | - |
dc.date.available | 2020-03-19T01:26:22Z | - |
dc.date.created | 2020-01-31 | - |
dc.date.created | 2020-01-31 | - |
dc.date.issued | 2020-02 | - |
dc.identifier.citation | ACM TRANSACTIONS ON GRAPHICS, v.39, no.1, pp.1 - 11 | - |
dc.identifier.issn | 0730-0301 | - |
dc.identifier.uri | http://hdl.handle.net/10203/272399 | - |
dc.description.abstract | This article presents a Model Predictive Control framework with a visuomotor system that synthesizes eye and head movements coupled with physics-based full-body motions while placing visual attention on objects of importance in the environment. As the engine of this framework, we propose a visuomotor system based on human visual perception and full-body dynamics with contacts. Relying on partial observations with uncertainty from a simulated visual sensor, an optimal control problem for this system leads to a Partially Observable Markov Decision Process, which is difficult to deal with. We approximate it as a deterministic belief Markov Decision Process for effective control. To obtain a solution for the problem efficiently, we adopt differential dynamic programming, which is a powerful scheme to find a locally optimal control policy for nonlinear system dynamics. Guided by a reference skeletal motion without any a priori gaze information, our system produces realistic eye and head movements together with full-body motions for various tasks such as catching a thrown ball, walking on stepping stones, balancing after being pushed, and avoiding moving obstacles. | - |
dc.language | English | - |
dc.publisher | ASSOC COMPUTING MACHINERY | - |
dc.title | Model Predictive Control with a Visuomotor System for Physics-based Character Animation | - |
dc.type | Article | - |
dc.identifier.wosid | 000535714800003 | - |
dc.identifier.scopusid | 2-s2.0-85073604739 | - |
dc.type.rims | ART | - |
dc.citation.volume | 39 | - |
dc.citation.issue | 1 | - |
dc.citation.beginningpage | 1 | - |
dc.citation.endingpage | 11 | - |
dc.citation.publicationname | ACM TRANSACTIONS ON GRAPHICS | - |
dc.identifier.doi | 10.1145/3360905 | - |
dc.contributor.localauthor | Noh, Junyong | - |
dc.contributor.nonIdAuthor | Han, Daseong | - |
dc.contributor.nonIdAuthor | Shin, Joseph S. | - |
dc.description.isOpenAccess | Y | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | 3D character animation | - |
dc.subject.keywordAuthor | visuomotor system | - |
dc.subject.keywordAuthor | motion control | - |
dc.subject.keywordAuthor | physics-based simulation | - |
dc.subject.keywordPlus | OPTIMIZATION | - |
dc.subject.keywordPlus | GAZE | - |
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