Recursive dynamics and adaptive control for animating articulated figures

Evangelos Kokkevis, Dimitris Metaxas

Research output: Chapter in Book/Report/Conference proceedingConference contribution


We present a dynamic system for the guided animation of articulated gures. Based on an ecient forward dynamics sim- ulator, we introduce a robust feedback control scheme and a fast two-stage collision response algorithm. A user of our sys- tem provides kinematic trajectories for selected degrees of free- dom (DOFs) of the gure. The output motion is fully generated using forward dynamics. The specied motion trajectories are the input to a control system which computes the forces and torques that should be exerted to achieve the desired motion. The dynamic controllers, designed based on the Model Reference Adaptive Control paradigm, continuously self-adjust for optimal performance in trajectory following. Moreover, the user is given a handle on the type and speed of reaction of the gure's con- trolled DOFs to sudden changes in their desired motion. The overall goal of our system is to provide a platform for generat- ing and studying realistic, user controlled motion at interactive rates. We require minimal user involvement in specifying non- intuitive parameters.

Original languageEnglish (US)
Title of host publication16th Biennial Conference on Mechanical Vibration and Noise
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791880401
StatePublished - 1997
Externally publishedYes
EventASME 1997 Design Engineering Technical Conferences, DETC 1997 - Sacramento, United States
Duration: Sep 14 1997Sep 17 1997

Publication series

NameProceedings of the ASME Design Engineering Technical Conference


ConferenceASME 1997 Design Engineering Technical Conferences, DETC 1997
Country/TerritoryUnited States

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation


  • Animations.
  • Dynamic simulation
  • Model reference adaptive control
  • Recursive dynamics
  • Virtual environments


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