caa a22 4500 605541027 CHVBK 20210128100914.0 cr unu---uuuuu 210128e20150601xx s 000 0 eng 10.1007/s00371-015-1097-8 doi (NATIONALLICENCE)springer-10.1007/s00371-015-1097-8 Human motion control with physically plausible foot contact models [Elektronische Daten] [Jongmin Kim, Hwangpil Park, Jehee Lee, Taesoo Kwon] The foot-to-ground contact model plays an important role in the simulation of highly dynamic motions, such as turns and kicks. In this paper, we propose a method for solving dynamically cumbersome slipping contact problems, which are frequently observed in highly dynamic motions. We employ and modify a combination of two different types of cones representing the inequality constraints of a contact model: the friction cone and the velocity cone. The friction cone makes character animation physically plausible while the velocity cone allows a character to perform a sharp turn without foot-to-ground penetration. Our system effectively simulates human behavior using an inverted pendulum on a cart (IPC) model and motion capture data. In the pre-processing step, we analyze motion capture data to extract meaningful information for the IPC model. At run-time, our system produces a physically simulated character by tracking the desired motion that is predicted by the IPC model. We formulate human motion control as a quadratic programming satisfying the proposed foot-to-ground contact constraints. Our examples show that the proposed system can produce physically plausible character animation without noticeable foot-to-ground contact artifacts. Springer-Verlag Berlin Heidelberg, 2015 Physics-based simulation nationallicence Character animation nationallicence Data-driven animation nationallicence Kim Jongmin Division of Computer Science and Software, Hanyang University, Seoul, Republic of Korea aut Park Hwangpil Department of Computer Science and Engineering, Seoul National University, Seoul, Republic of Korea aut Lee Jehee Department of Computer Science and Engineering, Seoul National University, Seoul, Republic of Korea aut Kwon Taesoo Division of Computer Science and Software, Hanyang University, Seoul, Republic of Korea aut The Visual Computer Springer Berlin Heidelberg 31/6-8(2015-06-01), 883-891 0178-2789 31:6-8<883 2015 31 371 https://doi.org/10.1007/s00371-015-1097-8 text/html Onlinezugriff via DOI BK010053 XK010053 XK010000 Metadata rights reserved Springer special CC-BY-NC licence nationallicence 1 research-article jats NATIONALLICENCE NATIONALLICENCE NL-springer NATIONALLICENCE 856 40 https://doi.org/10.1007/s00371-015-1097-8 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Kim Jongmin Division of Computer Science and Software, Hanyang University, Seoul, Republic of Korea aut NATIONALLICENCE 700 1- Park Hwangpil Department of Computer Science and Engineering, Seoul National University, Seoul, Republic of Korea aut NATIONALLICENCE 700 1- Lee Jehee Department of Computer Science and Engineering, Seoul National University, Seoul, Republic of Korea aut NATIONALLICENCE 700 1- Kwon Taesoo Division of Computer Science and Software, Hanyang University, Seoul, Republic of Korea aut NATIONALLICENCE 773 0- The Visual Computer Springer Berlin Heidelberg 31/6-8(2015-06-01), 883-891 0178-2789 31:6-8<883 2015 31 371