{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,10]],"date-time":"2025-12-10T08:32:54Z","timestamp":1765355574713,"version":"3.41.0"},"reference-count":26,"publisher":"Association for Computing Machinery (ACM)","issue":"3","license":[{"start":{"date-parts":[[2011,5,1]],"date-time":"2011-05-01T00:00:00Z","timestamp":1304208000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/100000145","name":"Division of Information and Intelligent Systems","doi-asserted-by":"publisher","award":["HCC-0811902"],"award-info":[{"award-number":["HCC-0811902"]}],"id":[{"id":"10.13039\/100000145","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Graph."],"published-print":{"date-parts":[[2011,5]]},"abstract":"<jats:p>A physics-based control system that tracks a single motion trajectory produces high-quality animations, but does not recover from large disturbances that require deviating from this tracked trajectory. In order to enhance the responsiveness of physically simulated characters, we introduce algorithms that construct composite controllers that track multiple trajectories in parallel instead of sequentially switching from one control to the other. The composite controllers can blend or transition between different path controllers at arbitrary times according to the current system state. As a result, a composite control system generates both high-quality animations and natural responses to certain disturbances. We demonstrate its potential for improving robustness in performing several locomotion tasks. Then we consolidate these controllers into graphs that allow us to direct the character in real time.<\/jats:p>","DOI":"10.1145\/1966394.1966395","type":"journal-article","created":{"date-parts":[[2011,5,24]],"date-time":"2011-05-24T13:04:30Z","timestamp":1306242270000},"page":"1-11","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":36,"title":["Composite control of physically simulated characters"],"prefix":"10.1145","volume":"30","author":[{"given":"Uldarico","family":"Muico","sequence":"first","affiliation":[{"name":"University of Washington, Seattle, WA"}]},{"given":"Jovan","family":"Popovi\u0107","sequence":"additional","affiliation":[{"name":"University of Washington, Seattle, WA"}]},{"given":"Zoran","family":"Popovi\u0107","sequence":"additional","affiliation":[{"name":"University of Washington, Seattle, WA"}]}],"member":"320","published-online":{"date-parts":[[2011,5,19]]},"reference":[{"doi-asserted-by":"publisher","key":"e_1_2_2_1_1","DOI":"10.1177\/02783649922066385"},{"doi-asserted-by":"publisher","key":"e_1_2_2_2_1","DOI":"10.1145\/1618452.1618516"},{"doi-asserted-by":"publisher","key":"e_1_2_2_3_1","DOI":"10.1145\/1409060.1409066"},{"doi-asserted-by":"publisher","key":"e_1_2_2_4_1","DOI":"10.1145\/1360612.1360681"},{"doi-asserted-by":"publisher","key":"e_1_2_2_5_1","DOI":"10.1145\/1531326.1531388"},{"volume-title":"Proceedings of the International Conference on Intelligent Robots and Systems (IROS). 1539--1544","author":"Erez T.","unstructured":"Erez , T. and Smart , W . 2007. Bipedal walking on rough terrain using manifold control . In Proceedings of the International Conference on Intelligent Robots and Systems (IROS). 1539--1544 . Erez, T. and Smart, W. 2007. Bipedal walking on rough terrain using manifold control. In Proceedings of the International Conference on Intelligent Robots and Systems (IROS). 1539--1544.","key":"e_1_2_2_6_1"},{"doi-asserted-by":"publisher","key":"e_1_2_2_7_1","DOI":"10.1145\/383259.383287"},{"doi-asserted-by":"publisher","key":"e_1_2_2_8_1","DOI":"10.1007\/BF01442148"},{"doi-asserted-by":"publisher","key":"e_1_2_2_9_1","DOI":"10.1145\/258734.258822"},{"doi-asserted-by":"publisher","key":"e_1_2_2_10_1","DOI":"10.1145\/218380.218414"},{"doi-asserted-by":"publisher","key":"e_1_2_2_11_1","DOI":"10.1002\/cpa.3160300604"},{"doi-asserted-by":"publisher","key":"e_1_2_2_12_1","DOI":"10.1145\/237170.237231"},{"doi-asserted-by":"publisher","key":"e_1_2_2_13_1","DOI":"10.1145\/1778765.1781155"},{"doi-asserted-by":"publisher","key":"e_1_2_2_14_1","DOI":"10.1145\/1531326.1531387"},{"volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). 663--669","author":"Pollard N. S.","unstructured":"Pollard , N. S. and Behmaram-Mosavat , F . 2000. Force-Based motion editing for locomotion tasks . In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). 663--669 . Pollard, N. S. and Behmaram-Mosavat, F. 2000. Force-Based motion editing for locomotion tasks. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). 663--669.","key":"e_1_2_2_15_1"},{"volume-title":"Proceedings of the International Federation of Automatic Control.","author":"Raibert M.","unstructured":"Raibert , M. , Blankespoor , K. , Nelson , G. , and Playter , R . 2008. Bigdog, the rough-terrain quadruped robot . In Proceedings of the International Federation of Automatic Control. Raibert, M., Blankespoor, K., Nelson, G., and Playter, R. 2008. Bigdog, the rough-terrain quadruped robot. In Proceedings of the International Federation of Automatic Control.","key":"e_1_2_2_16_1"},{"doi-asserted-by":"publisher","key":"e_1_2_2_17_1","DOI":"10.1145\/122718.122755"},{"key":"e_1_2_2_18_1","volume-title":"QL: A Fortran Code for Convex Quadratic Programming -- User's Guide Version 2.11. Department of Mathematics","author":"Schittkowski K.","year":"2005","unstructured":"Schittkowski , K. 2005 . QL: A Fortran Code for Convex Quadratic Programming -- User's Guide Version 2.11. Department of Mathematics , University of Bayreuth. Schittkowski, K. 2005. QL: A Fortran Code for Convex Quadratic Programming -- User's Guide Version 2.11. Department of Mathematics, University of Bayreuth."},{"doi-asserted-by":"publisher","key":"e_1_2_2_19_1","DOI":"10.1145\/1276377.1276511"},{"key":"e_1_2_2_20_1","first-page":"1856","article-title":"Compositionality of optimal control laws","volume":"22","author":"Todorov E.","year":"2009","unstructured":"Todorov , E. 2009 a. Compositionality of optimal control laws . In Advances in Neural Information Processing Systems (NIPS). Vol. 22. 1856 -- 1864 . Todorov, E. 2009a. Compositionality of optimal control laws. In Advances in Neural Information Processing Systems (NIPS). Vol. 22. 1856--1864.","journal-title":"Advances in Neural Information Processing Systems (NIPS)."},{"doi-asserted-by":"publisher","key":"e_1_2_2_21_1","DOI":"10.1073\/pnas.0710743106"},{"volume-title":"Proceedings of the International Conference on Robotics and Automation (ICRA), 656--662","author":"Wooten W. L.","unstructured":"Wooten , W. L. and Hodgins , J. K . 2000. Simulating leaping, tumbling, landing and balancing humans . In Proceedings of the International Conference on Robotics and Automation (ICRA), 656--662 . Wooten, W. L. and Hodgins, J. K. 2000. Simulating leaping, tumbling, landing and balancing humans. In Proceedings of the International Conference on Robotics and Automation (ICRA), 656--662.","key":"e_1_2_2_22_1"},{"doi-asserted-by":"publisher","key":"e_1_2_2_23_1","DOI":"10.1145\/1778765.1778811"},{"doi-asserted-by":"publisher","key":"e_1_2_2_24_1","DOI":"10.1145\/1360612.1360680"},{"doi-asserted-by":"publisher","key":"e_1_2_2_25_1","DOI":"10.1145\/1275808.1276509"},{"doi-asserted-by":"publisher","key":"e_1_2_2_26_1","DOI":"10.1145\/545261.545276"}],"container-title":["ACM Transactions on Graphics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/1966394.1966395","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/1966394.1966395","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T11:22:26Z","timestamp":1750245746000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/1966394.1966395"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,5]]},"references-count":26,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2011,5]]}},"alternative-id":["10.1145\/1966394.1966395"],"URL":"https:\/\/doi.org\/10.1145\/1966394.1966395","relation":{},"ISSN":["0730-0301","1557-7368"],"issn-type":[{"type":"print","value":"0730-0301"},{"type":"electronic","value":"1557-7368"}],"subject":[],"published":{"date-parts":[[2011,5]]},"assertion":[{"value":"2010-12-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2011-01-01","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2011-05-19","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}