Locomotion Control with Inverted Pendulum Model and Hierarchical Low-Dimensional Data

Ku-Hyun HAN  Byung-Ha PARK  Kwang-Mo JUNG  JungHyun HAN  

IEICE TRANSACTIONS on Information and Systems   Vol.E100-D   No.11   pp.2744-2746
Publication Date: 2017/11/01
Online ISSN: 1745-1361
DOI: 10.1587/transinf.2017EDL8106
Type of Manuscript: LETTER
Category: Computer Graphics
character animation,  interactive controller,  dimensional reduction,  

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This paper presents an interactive locomotion controller using motion capture data and an inverted pendulum model (IPM). The motion data of a character is decomposed into those of upper and lower bodies, which are then dimension-reduced via what we call hierarchical Gaussian process dynamical model (H-GPDM). The locomotion controller receives the desired walking direction from the user. It is integrated into the IPM to determine the pose of the center of mass and the stance-foot position of the character. They are input to the H-GPDM, which interpolates the low-dimensional data to synthesise a redirected motion sequence on an uneven surface. The locomotion controller allows the upper and lower bodies to be independently controlled and helps us generate natural locomotion. It can be used in various real-time applications such as games.