Abstract : Forward dynamics is central to physically-based simulation and control of articulated bodies. We present an adaptive algorithm for computing forward dynamics of articulated bodies: using novel motion error metrics, our algorithm can automatically simplify the dynamics of a multi-body system, based on the desired number of degrees of freedom and the location of external forces and active joint forces. We demonstrate this method in plausible animation of articulated bodies, including a large-scale simulation of 200 animated humanoids and multi-body dynamics systems with many degrees of freedom. The graceful simplification allows us to achieve up to two orders of magnitude performance improvement in several complex benchmarks.
Type de document :
Article dans une revue
ACM Transactions on Graphics, Association for Computing Machinery, 2005, 24 (3), pp.936-945. 〈10.1145/1073204.1073294〉
https://hal.inria.fr/inria-00390315
Contributeur : Nano-D Equipe
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Soumis le : lundi 1 juin 2009 - 18:52:18
Dernière modification le : mercredi 11 avril 2018 - 01:50:45
Document(s) archivé(s) le : vendredi 11 juin 2010 - 00:07:59
Stephane Redon, Nico Galoppo, Ming Lin. Adaptive Dynamics of Articulated Bodies. ACM Transactions on Graphics, Association for Computing Machinery, 2005, 24 (3), pp.936-945. 〈10.1145/1073204.1073294〉. 〈inria-00390315〉
