Hybrid Motion Control combining Inverse Kinematics and Inverse Dynamics Controllers for Simulating Percussion Gestures

Alexandre Bouënard 1, 2, * Sylvie Gibet 1, 3 Marcelo M. Wanderley 2
* Corresponding author
3 BUNRAKU - Perception, decision and action of real and virtual humans in virtual environments and impact on real environments
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, ENS Cachan - École normale supérieure - Cachan, Inria Rennes – Bretagne Atlantique
Abstract : Virtual characters playing in a realistic way virtual musical instruments need to interact in real-time with the simulated sounding environment. Dynamic simulation is a promising approach to finely represent and modulate this interaction. Moreover, capturing human motion provides a database covering a large variety of gestures with different levels of expressivity. We propose in this paper a new data-driven hybrid control technique combining Inverse Kinematics (IK) and Inverse Dynamics (ID) controllers, and we define an application for consistently editing the motion to be simulated by virtual characters performing percussion gestures.
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https://hal.archives-ouvertes.fr/hal-00408255
Contributor : Alexandre Bouënard <>
Submitted on : Wednesday, July 29, 2009 - 10:50:37 PM
Last modification on : Wednesday, December 19, 2018 - 2:26:01 PM
Long-term archiving on : Tuesday, June 15, 2010 - 9:46:03 PM

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  • HAL Id : hal-00408255, version 1

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Alexandre Bouënard, Sylvie Gibet, Marcelo M. Wanderley. Hybrid Motion Control combining Inverse Kinematics and Inverse Dynamics Controllers for Simulating Percussion Gestures. CASA, Jun 2009, Amsterdam, Netherlands. pp.17-20. ⟨hal-00408255⟩

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