Adaptive dynamics of articulated bodies
- 1 July 2005
- conference paper
- conference paper
- Published by Association for Computing Machinery (ACM) in ACM Transactions on Graphics
- Vol. 24 (3), 936-945
- https://doi.org/10.1145/1073204.1073294
Abstract
International audienceForward 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 benchmarksThis publication has 23 references indexed in Scilit:
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