Model Predictive Control with a Visuomotor System for Physics-based Character Animation

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dc.contributor.authorEom, Haegwangko
dc.contributor.authorHan, Daseongko
dc.contributor.authorShin, Joseph S.ko
dc.contributor.authorNoh, Junyongko
dc.date.accessioned2020-03-19T01:26:22Z-
dc.date.available2020-03-19T01:26:22Z-
dc.date.created2020-01-31-
dc.date.created2020-01-31-
dc.date.issued2020-02-
dc.identifier.citationACM TRANSACTIONS ON GRAPHICS, v.39, no.1, pp.1 - 11-
dc.identifier.issn0730-0301-
dc.identifier.urihttp://hdl.handle.net/10203/272399-
dc.description.abstractThis 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.languageEnglish-
dc.publisherASSOC COMPUTING MACHINERY-
dc.titleModel Predictive Control with a Visuomotor System for Physics-based Character Animation-
dc.typeArticle-
dc.identifier.wosid000535714800003-
dc.identifier.scopusid2-s2.0-85073604739-
dc.type.rimsART-
dc.citation.volume39-
dc.citation.issue1-
dc.citation.beginningpage1-
dc.citation.endingpage11-
dc.citation.publicationnameACM TRANSACTIONS ON GRAPHICS-
dc.identifier.doi10.1145/3360905-
dc.contributor.localauthorNoh, Junyong-
dc.contributor.nonIdAuthorHan, Daseong-
dc.contributor.nonIdAuthorShin, Joseph S.-
dc.description.isOpenAccessY-
dc.type.journalArticleArticle-
dc.subject.keywordAuthor3D character animation-
dc.subject.keywordAuthorvisuomotor system-
dc.subject.keywordAuthormotion control-
dc.subject.keywordAuthorphysics-based simulation-
dc.subject.keywordPlusOPTIMIZATION-
dc.subject.keywordPlusGAZE-
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