Recursive dynamics and adaptive control for animating articulated figures

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.