Physics-based control of virtual characters in low frequency simulations

Samuel Carensac 1 Nicolas Pronost 1 Saïda Bouakaz 1
1 SAARA - Simulation, Analyse et Animation pour la Réalité Augmentée
LIRIS - Laboratoire d'InfoRmatique en Image et Systèmes d'information
Abstract : Using a lower simulation frequency for physics-based control of virtual characters frees computation time that can be used for more complex environment. However, using low simulation frequency may introduce instabilities inside the simulation. In this paper, we demonstrate that even a simple control strategy can be used at a low simulation frequency by adapting the control parameters. Indeed we show that lower frequencies hold a more restrictive space of possible control parameters than higher ones. We propose a method to find optimized control parameters for frequencies as low as 200Hz. As using such low frequencies may introduce foot-ground contact instabilities, we also introduce an additional control feedback on the stance leg. Our controller shows similar robustness as high frequency controller while using 0.8ms per simulation step.
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  • HAL Id : hal-01765240, version 1

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Samuel Carensac, Nicolas Pronost, Saïda Bouakaz. Physics-based control of virtual characters in low frequency simulations. journées françaises d'informatique graphique (j.FIG), Oct 2017, rennes, France. ⟨hal-01765240⟩

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