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Hierarchical planning and control for complex motor tasks

Authors:

Daniel Zimmermann,

Robert W. Sumner,

Markus GrossAuthors Info & Claims

SCA '15: Proceedings of the 14th ACM SIGGRAPH / Eurographics Symposium on Computer Animation

Pages 73 - 81

https://doi.org/10.1145/2786784.2786795

Published: 07 August 2015 Publication History

Abstract

We present a planning and control framework that enables physically simulated characters to perform various types of motor tasks. To create physically-valid motion plans, our method uses a hierarchical set of simplified models. Computational resources are therefore focused where they matter most: motion plans for the immediate future are generated using higher-fidelity models, while coarser models are used to create motion plans with longer time horizons. Our framework can be used for different types of motor skills, including ones where the actions of the arms and legs must be precisely coordinated. We demonstrate controllers for tasks such as getting up from a chair, crawling onto a raised platform, or using a handrail while climbing stairs. All of the motions are simulated using a black-box physics engine from high level user commands, without requiring any motion capture data.

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Cited By

Bjelonic MGrandia RGeilinger MHarley OMedeiros VPajovic VJelavic ECoros SHutter M(2022)Offline motion libraries and online MPC for advanced mobility skillsThe International Journal of Robotics Research10.1177/0278364922110247341:9-10(903-924)Online publication date: 7-Jun-2022
https://doi.org/10.1177/02783649221102473
Kwon TLee YVan De Panne M(2020)Fast and flexible multilegged locomotion using learned centroidal dynamicsACM Transactions on Graphics10.1145/3386569.339243239:4(46:1-46:17)Online publication date: 12-Aug-2020
https://dl.acm.org/doi/10.1145/3386569.3392432
Bermudez LTessendorf JZimmermann DZordan VCharalambous PChrysanthou YJones BLee J(2018)Real-time locomotion with character-fluid interactionsProceedings of the 11th ACM SIGGRAPH Conference on Motion, Interaction and Games10.1145/3274247.3274515(1-8)Online publication date: 8-Nov-2018
https://dl.acm.org/doi/10.1145/3274247.3274515
Show More Cited By

Index Terms

Hierarchical planning and control for complex motor tasks
1. Computing methodologies
  1. Computer graphics
    1. Animation

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Published In

cover image ACM Conferences

SCA '15: Proceedings of the 14th ACM SIGGRAPH / Eurographics Symposium on Computer Animation

August 2015

193 pages

ISBN:9781450334969

DOI:10.1145/2786784

Conference Chairs:
Jernej Barbič
University of Southern California
,
Zhigang Deng
University of Houston

Copyright © 2015 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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SIGGRAPH: ACM Special Interest Group on Computer Graphics and Interactive Techniques
EUROGRAPHICS: The European Association for Computer Graphics

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New York, NY, United States

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Published: 07 August 2015

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SCA '15: The ACM SIGGRAPH / Eurographics Symposium on Computer Animation

August 7 - 9, 2015

California, Los Angeles

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Overall Acceptance Rate 183 of 487 submissions, 38%

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Cited By

Bjelonic MGrandia RGeilinger MHarley OMedeiros VPajovic VJelavic ECoros SHutter M(2022)Offline motion libraries and online MPC for advanced mobility skillsThe International Journal of Robotics Research10.1177/0278364922110247341:9-10(903-924)Online publication date: 7-Jun-2022
https://doi.org/10.1177/02783649221102473
Kwon TLee YVan De Panne M(2020)Fast and flexible multilegged locomotion using learned centroidal dynamicsACM Transactions on Graphics10.1145/3386569.339243239:4(46:1-46:17)Online publication date: 12-Aug-2020
https://dl.acm.org/doi/10.1145/3386569.3392432
Bermudez LTessendorf JZimmermann DZordan VCharalambous PChrysanthou YJones BLee J(2018)Real-time locomotion with character-fluid interactionsProceedings of the 11th ACM SIGGRAPH Conference on Motion, Interaction and Games10.1145/3274247.3274515(1-8)Online publication date: 8-Nov-2018
https://dl.acm.org/doi/10.1145/3274247.3274515
Juarez-Perez AKallmann MMcGuire MNowrouzezahari D(2018)Fast behavioral locomotion with layered navigation meshesProceedings of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games10.1145/3190834.3190841(1-6)Online publication date: 15-May-2018
https://dl.acm.org/doi/10.1145/3190834.3190841
Hwang JKim JSuh IKwon T(2018)Real‐time Locomotion Controller using an Inverted‐Pendulum‐based Abstract ModelComputer Graphics Forum10.1111/cgf.1336137:2(287-296)Online publication date: 22-May-2018
https://doi.org/10.1111/cgf.13361
Onol ALong PPadlr T(2018)A Comparative Analysis of Contact Models in Trajectory Optimization for Manipulation*2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS.2018.8594284(1-9)Online publication date: Oct-2018
https://doi.org/10.1109/IROS.2018.8594284
Neunert MFarshidian FWinkler ABuchli J(2017)Trajectory Optimization Through Contacts and Automatic Gait Discovery for QuadrupedsIEEE Robotics and Automation Letters10.1109/LRA.2017.26656852:3(1502-1509)Online publication date: Jul-2017
https://doi.org/10.1109/LRA.2017.2665685
Juarez-Perez AKallmann MNeff MGeraerts RShum H(2016)Full-body behavioral path planning in cluttered environmentsProceedings of the 9th International Conference on Motion in Games10.1145/2994258.2994281(107-112)Online publication date: 10-Oct-2016
https://dl.acm.org/doi/10.1145/2994258.2994281
Neunert MFarshidian FBuchli J(2016)Efficient whole-body trajectory optimization using contact constraint relaxation2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)10.1109/HUMANOIDS.2016.7803252(43-48)Online publication date: Nov-2016
https://doi.org/10.1109/HUMANOIDS.2016.7803252

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