Physics-based full-body soccer motion control for dribbling and shooting축구 동작 생성을 위한 물리 기반 전신 동작 제어

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dc.contributor.advisorNoh, Junyong-
dc.contributor.advisor노준용-
dc.contributor.authorHong, Seokpyo-
dc.date.accessioned2021-05-12T19:39:13Z-
dc.date.available2021-05-12T19:39:13Z-
dc.date.issued2020-
dc.identifier.urihttp://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=908499&flag=dissertationen_US
dc.identifier.urihttp://hdl.handle.net/10203/284102-
dc.description학위논문(박사) - 한국과학기술원 : 문화기술대학원, 2020.2,[iii, 32 p. :]-
dc.description.abstractPlaying with a soccer ball is not easy even for a real human because of dynamic foot contacts with the moving ball while chasing and controlling it. The problem of online full-body soccer motion synthesis is challenging and has not been fully solved yet. In this paper, we present a novel motion control system that produces physically-correct full-body soccer motions: dribbling forward, dribbling to the side, and shooting, in response to an online user motion prescription specified by a motion type, a running speed, and a turning angle. This system performs two tightly-coupled tasks: data-driven motion prediction and physics-based motion synthesis. Given example motion data, the former synthesizes a reference motion in accordance with an online user input and further refines the motion to make the character kick the ball at a right time and place. Provided with the reference motion, the latter then adopts a Model Predictive Control (MPC) framework to generate a physically-correct soccer motion, by solving an optimal control problem that is formulated based on dynamics for a full-body character and the moving ball together with their interactions. Our demonstration shows the effectiveness of the proposed system that synthesizes convincing full-body soccer motions in various scenarios such as adjusting the desired running speed of the character, changing the velocity and the mass of the ball, and maintaining balance against external forces.-
dc.languageeng-
dc.publisher한국과학기술원-
dc.subject3D character animation▼aphysics-based simulation▼amotion control-
dc.subject3D 캐릭터 애니메이션▼a물리기반 시뮬레이션▼a동작 제어-
dc.titlePhysics-based full-body soccer motion control for dribbling and shooting-
dc.title.alternative축구 동작 생성을 위한 물리 기반 전신 동작 제어-
dc.typeThesis(Ph.D)-
dc.identifier.CNRN325007-
dc.description.department한국과학기술원 :문화기술대학원,-
dc.contributor.alternativeauthor홍석표-
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