Physics-based control of walking virtual characters in low frequency simulations
|Samuel Carensac||Nicolas Pronost||Saida Bouakaz|
|INSA de Lyon||Université de Lyon, Université Lyon 1||Université de Lyon, Université Lyon 1|
|LIRIS CNRS UMR5205||LIRIS CNRS UMR5205||LIRIS CNRS UMR5205|
Physics-based control of virtual characters traditionally uses high simulation frequencies of 1 to 2 kHz. While lowering the simulation frequency frees computation time, it usually introduces instabilities within the simulation. In this paper, we propose a control strategy that can be used for high and low simulation frequencies, down to 225 Hz. The inherent instabilities were reduced by optimizing control parameters and by introducing a novel control feedback for the stance leg. We also show how lower frequencies hold a more restrictive space of possible control parameters than higher ones. Our controller shows equal robustness as high frequency controllers while requiring in average only 0.8 ms per simulation step.
Paper presented at the 31st International Conference on Computer Animation and Social Agents CASA 2018. Download paper
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