Research Topic

Motion Control using Inverse Dynamics

In recent years physically-based animation has become a real alternative to animation technics based on keyframes or motion-capture data. The animation loop uses a physics simulator as a main part. The result is a physically realistic motion of characters interacting with the environment.

Physically-based animation demands controllers for different objectives of the animated characters like keeping balance or generating a special gait. However one problem is to get the controllers responsive to perturbations and to get them controllable by the animator.

Another aspect of physically-based animation is the difficulty for the animator to get a special result of the interaction between different entities in the virtual environment after some time of simulation. For example, one can think of a newspaper pushed by the wind that is to be stopped by a street lamp. Subtle variations in initial interaction conditions like the wind force or the starting position of the newspaper can result in substantially different animations. In some configurations the newspaper won't even touch the streetlamp.

In this research project, algorithms shall be developed to solve problems of control in the afore mentioned fields of physically-based animation by applying ideas from inverse dynamics and optimization theory.


Crispin Deul


Dolivostra├če 15

D-64293 Darmstadt



+49 6151 16 - 24386


+49 6151 16 - 24404




deul (at) gsc.tu...

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