Sampling-based Contact-rich Motion Control

Libin Liu1 KangKang Yin2 Michiel van de Panne3 Tianjia Shao1 Weiwei Xu2

        1Tsinghua University 2Microsoft Research Asia 3University of British Columbia

image1.jpg image2.jpg image3.jpg


Human motions are the product of internal and external forces, but these forces are very difficult to measure in a general setting. Given a motion capture trajectory, we propose a method to reconstruct its open-loop control and the implicit contact forces. The method employs a strategy based on randomized sampling of the control within user-specified bounds, coupled with forward dynamics simulation. Sampling-based techniques are well suited to this task because of their lack of dependence on derivatives, which are difficult to estimate in contact-rich scenarios. They are also easy to parallelize, which we exploit in our implementation on a compute cluster. We demonstrate reconstruction of a diverse set of captured motions, including walking, running, and contact rich tasks such as rolls and kip-up jumps. We further show how the method can be applied to physically based motion transformation and retargeting, physically plausible motion variations, and reference-trajectory-free idling motions. Alongside the successes, we point out a number of limitations and directions for future work.



20210126161163033737502376.png 20210126161163035838708171.png 20210126161163038250202357.png


20210126161163040823306045.png 20210126161163040849102882.png 20210126161163040865900587.png 20210126161163040877103115.png 20210126161163040910302708.png

Libin Liu, KangKang Yin, Michiel van de Panne, Tianjia Shao, and Weiwei Xu. 2010 Sampling-based Contact-rich Motion Control. ACM Trans. Graph. 29, 4 (SIGGRAPH 2010), Article 128, 10 pages. [PDF 5.9MB]


author = {Liu, Libin and Yin, KangKang and van de Panne, Michiel and Shao, Tianjia and Xu, Weiwei},
title = {Sampling-based contact-rich motion control},
journal = {ACM Trans. Graph.},
issue_date = {July 2010},
volume = {29},
number = {4},
month = jul,
year = {2010},
issn = {0730-0301},
pages = {128:1--128:10},
articleno = {128},
numpages = {10},
url = {},
doi = {10.1145/1778765.1778865},
acmid = {1778865},
publisher = {ACM},
address = {New York, NY, USA},