{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,25]],"date-time":"2025-06-25T06:03:47Z","timestamp":1750831427493,"version":"3.41.0"},"reference-count":32,"publisher":"Association for Computing Machinery (ACM)","issue":"2","license":[{"start":{"date-parts":[[2017,3,29]],"date-time":"2017-03-29T00:00:00Z","timestamp":1490745600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"name":"NSERC Discovery","award":["RGPIN-2014-1507 and RGPIN-2015-04843"],"award-info":[{"award-number":["RGPIN-2014-1507 and RGPIN-2015-04843"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Graph."],"published-print":{"date-parts":[[2017,4,30]]},"abstract":"<jats:p>\n            Determining effective control strategies and solutions for high-degree-of-freedom humanoid characters has been a difficult, ongoing problem. A controller is only valid for a subset of the states of the character, known as the\n            <jats:italic>domain of attraction<\/jats:italic>\n            (DOA). This article shows how many states that are initially outside the DOA can be brought inside it. Our first contribution is to show how DOA expansion can be performed for a high-dimensional simulated character. Our second contribution is to present an algorithm that efficiently increases the DOA using random trees that provide denser coverage than the trees produced by typical sampling-based motion-planning algorithms. The trees are constructed offline but can be queried fast enough for near-real-time control. We show the effect of DOA expansion on getting up, crouch-to-stand, jumping, and standing-twist controllers. We also show how DOA expansion can be used to connect controllers together.\n          <\/jats:p>","DOI":"10.1145\/3009907","type":"journal-article","created":{"date-parts":[[2017,3,30]],"date-time":"2017-03-30T20:23:34Z","timestamp":1490905414000},"page":"1-11","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":4,"title":["Domain of Attraction Expansion for Physics-Based Character Control"],"prefix":"10.1145","volume":"36","author":[{"given":"Mazen Al","family":"Borno","sequence":"first","affiliation":[{"name":"University of Toronto, Ontario, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Michiel Van De","family":"Panne","sequence":"additional","affiliation":[{"name":"University of British Columbia, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Eugene","family":"Fiume","sequence":"additional","affiliation":[{"name":"University of Toronto, Ontario, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2017,3,29]]},"reference":[{"key":"e_1_2_2_1_1","volume-title":"Symposium on Computer Animation (SCA). Eurographics Association, 249--258","author":"Abe Yeuhi","year":"2007","unstructured":"Yeuhi Abe , Marco da Silva , and Jovan Popovi\u0107 . 2007 . Multiobjective control with frictional contacts . In Symposium on Computer Animation (SCA). Eurographics Association, 249--258 . Yeuhi Abe, Marco da Silva, and Jovan Popovi\u0107. 2007. Multiobjective control with frictional contacts. In Symposium on Computer Animation (SCA). Eurographics Association, 249--258."},{"key":"e_1_2_2_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/TVCG.2012.325"},{"volume-title":"Computer Graphics Forum","author":"Borno Mazen Al","key":"e_1_2_2_3_1","unstructured":"Mazen Al Borno , Eugene Fiume , A. Hertzmann , and M. de Lasa . 2014. Feedback control for rotational movements in feature space . In Computer Graphics Forum , Vol. 33 . Wiley Online Library , 225--233. Mazen Al Borno, Eugene Fiume, A. Hertzmann, and M. de Lasa. 2014. Feedback control for rotational movements in feature space. 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