Physics-based control of walking 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 : 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.
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Submitted on : Friday, October 19, 2018 - 6:11:45 PM
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Samuel Carensac, Nicolas Pronost, Saïda Bouakaz. Physics-based control of walking virtual characters in low frequency simulations. 31st International Conference on Computer Animation and Social Agents CASA 2018, May 2018, Pekin, China. pp.77-82, ⟨10.1145/3205326.3205361⟩. ⟨hal-01884827⟩

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