{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,6]],"date-time":"2026-10-06T07:35:25Z","timestamp":1791272125458,"version":"4.1.0"},"reference-count":36,"publisher":"Association for Computing Machinery (ACM)","issue":"3","license":[{"start":{"date-parts":[[2004,8,1]],"date-time":"2004-08-01T00:00:00Z","timestamp":1091318400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Graph."],"published-print":{"date-parts":[[2004,8]]},"abstract":"<jats:p>Optimization is an appealing way to compute the motion of an animated character because it allows the user to specify the desired motion in a sparse, intuitive way. The difficulty of solving this problem for complex characters such as humans is due in part to the high dimensionality of the search space. The dimensionality is an artifact of the problem representation because most dynamic human behaviors are intrinsically low dimensional with, for example, legs and arms operating in a coordinated way. We describe a method that exploits this observation to create an optimization problem that is easier to solve. Our method utilizes an existing motion capture database to find a low-dimensional space that captures the properties of the desired behavior. We show that when the optimization problem is solved within this low-dimensional subspace, a sparse sketch can be used as an initial guess and full physics constraints can be enabled. We demonstrate the power of our approach with examples of forward, vertical, and turning jumps; with running and walking; and with several acrobatic flips.<\/jats:p>","DOI":"10.1145\/1015706.1015754","type":"journal-article","created":{"date-parts":[[2004,10,7]],"date-time":"2004-10-07T13:38:56Z","timestamp":1097156336000},"page":"514-521","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":283,"title":["Synthesizing physically realistic human motion in low-dimensional, behavior-specific spaces"],"prefix":"10.1145","volume":"23","author":[{"given":"Alla","family":"Safonova","sequence":"first","affiliation":[{"name":"Carnegie Mellon University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jessica K.","family":"Hodgins","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Nancy S.","family":"Pollard","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2004,8]]},"reference":[{"key":"e_1_2_2_1_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.845348"},{"key":"e_1_2_2_2_1","doi-asserted-by":"publisher","DOI":"10.1080\/10255849908907988"},{"key":"e_1_2_2_3_1","doi-asserted-by":"publisher","DOI":"10.1145\/344779.344865"},{"key":"e_1_2_2_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.1995.479207"},{"key":"e_1_2_2_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1999.772454"},{"key":"e_1_2_2_6_1","doi-asserted-by":"publisher","DOI":"10.1023\/A:1023709501986"},{"key":"e_1_2_2_7_1","doi-asserted-by":"publisher","DOI":"10.1145\/882262.882286"},{"key":"e_1_2_2_8_1","volume-title":"AMPL: A mathematical programming language.","author":"FOURER R.","year":"1989","unstructured":"FOURER, R., GAY, D., AND KERNIGHAN, B., 1989. AMPL: A mathematical programming language."},{"key":"e_1_2_2_9_1","doi-asserted-by":"publisher","DOI":"10.5555\/92131"},{"key":"e_1_2_2_10_1","volume-title":"SNOPT: An SQP algorithm for large-scale constrained optimization. Tech. Rep. NA--97--2","author":"GILL P. E.","year":"1997","unstructured":"GILL, P. E., MURRAY, W., AND SAUNDERS, M. A. 1997. SNOPT: An SQP algorithm for large-scale constrained optimization. Tech. Rep. NA--97--2, San Diego, CA."},{"key":"e_1_2_2_11_1","doi-asserted-by":"publisher","DOI":"10.1145\/253284.253321"},{"key":"e_1_2_2_12_1","doi-asserted-by":"publisher","DOI":"10.1145\/280814.280816"},{"key":"e_1_2_2_14_1","doi-asserted-by":"publisher","DOI":"10.5555\/792759.793064"},{"key":"e_1_2_2_15_1","doi-asserted-by":"publisher","unstructured":"JAMES D. L. AND FATAHALIAN K. 2003. Precomputing interactive dynamic deformable scenes. ACM Trans. on Graphics 879--887. 10.1145\/882262.882359","DOI":"10.1145\/882262.882359"},{"key":"e_1_2_2_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/IRDS.2002.1041654"},{"key":"e_1_2_2_17_1","volume-title":"Principal component analysis","author":"JOLLIFFE I.","unstructured":"JOLLIFFE, I. 1986. Principal component analysis. Springer Verlag."},{"key":"e_1_2_2_18_1","doi-asserted-by":"publisher","DOI":"10.1109\/38.486680"},{"key":"e_1_2_2_19_1","doi-asserted-by":"crossref","unstructured":"KOREIN J. AND BADLER N. 1982. Techniques for generating the goal-directed motion of articulated structures. 71--81.","DOI":"10.1109\/MCG.1982.1674498"},{"key":"e_1_2_2_20_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0167-2789(03)00227-6"},{"key":"e_1_2_2_21_1","doi-asserted-by":"publisher","DOI":"10.1145\/311535.311539"},{"key":"e_1_2_2_22_1","doi-asserted-by":"publisher","unstructured":"LI Y. WANG T. AND SHUM H.-Y. 2002. Motion texture: a two-level statistical model for character motion synthesis. ACM Trans. on Graphics 465--472. 10.1145\/566654.566604","DOI":"10.1145\/566654.566604"},{"key":"e_1_2_2_23_1","volume-title":"5th Eurographics Workshop on Animation and Simulation.","author":"LIU Z.","year":"1994","unstructured":"LIU, Z., AND COHEN, M. 1994. Decomposition of linked figure motion: Diving. In 5th Eurographics Workshop on Animation and Simulation."},{"key":"e_1_2_2_24_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-7091-9435-5_11"},{"key":"e_1_2_2_25_1","doi-asserted-by":"publisher","DOI":"10.1145\/566654.566596"},{"key":"e_1_2_2_26_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844130"},{"key":"e_1_2_2_27_1","doi-asserted-by":"publisher","DOI":"10.1145\/74333.74355"},{"key":"e_1_2_2_28_1","volume-title":"Yale Workshop on Adaptive and Learning Systems.","author":"POLLARD N. S.","year":"2001","unstructured":"POLLARD, N. S., AND REITSMA, P. S. A. 2001. Animation of humanlike characters: Dynamic motion filtering with a physically plausible contact model. In Yale Workshop on Adaptive and Learning Systems."},{"key":"e_1_2_2_29_1","doi-asserted-by":"publisher","DOI":"10.1145\/311535.311536"},{"key":"e_1_2_2_30_1","doi-asserted-by":"publisher","DOI":"10.1145\/344779.344880"},{"key":"e_1_2_2_31_1","doi-asserted-by":"publisher","DOI":"10.1023\/A:1011184714898"},{"key":"e_1_2_2_32_1","doi-asserted-by":"publisher","DOI":"10.1145\/237170.237229"},{"key":"e_1_2_2_33_1","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.22-04-01426.2002"},{"key":"e_1_2_2_34_1","unstructured":"SULEJMANPA\u0160I\u0106 A. 2004. Adaptation of Performed Ballistic Motion. Master's thesis MIT Dept of EECS."},{"key":"e_1_2_2_35_1","doi-asserted-by":"publisher","DOI":"10.5555\/2803523.2803669"},{"key":"e_1_2_2_36_1","doi-asserted-by":"publisher","DOI":"10.1145\/54852.378507"},{"key":"e_1_2_2_37_1","volume-title":"Proc. IEEE Intl. Conference on Robotics and Automation, 688--695","author":"YAMANE K.","year":"2000","unstructured":"YAMANE, K., AND NAKAMURA, Y. 2000. Dynamics filter -- concept and implementation of on-line motion generator for human figures. In Proc. IEEE Intl. Conference on Robotics and Automation, 688--695."}],"container-title":["ACM Transactions on Graphics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/1015706.1015754","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/1015706.1015754","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T17:26:23Z","timestamp":1750267583000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/1015706.1015754"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2004,8]]},"references-count":36,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2004,8]]}},"alternative-id":["10.1145\/1015706.1015754"],"URL":"https:\/\/doi.org\/10.1145\/1015706.1015754","relation":{},"ISSN":["0730-0301","1557-7368"],"issn-type":[{"value":"0730-0301","type":"print"},{"value":"1557-7368","type":"electronic"}],"subject":[],"published":{"date-parts":[[2004,8]]},"assertion":[{"value":"2004-08-01","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}