{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,1]],"date-time":"2025-11-01T09:27:51Z","timestamp":1761989271840,"version":"3.41.0"},"reference-count":42,"publisher":"Association for Computing Machinery (ACM)","issue":"5","license":[{"start":{"date-parts":[[2018,10,23]],"date-time":"2018-10-23T00:00:00Z","timestamp":1540252800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"name":"ERC Actanthrope","award":["ERC-2013-ADG"],"award-info":[{"award-number":["ERC-2013-ADG"]}]},{"name":"H2020 Memmo","award":["ICT-780684"],"award-info":[{"award-number":["ICT-780684"]}]},{"name":"ANR LOCO3D","award":["ANR-16-CE33-0003"],"award-info":[{"award-number":["ANR-16-CE33-0003"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Graph."],"published-print":{"date-parts":[[2018,10,31]]},"abstract":"<jats:p>Synthesizing motions for legged characters in arbitrary environments is a long-standing problem that has recently received a lot of attention from the computer graphics community. We tackle this problem with a procedural approach that is generic, fully automatic, and independent from motion capture data. The main contribution of this article is a point-mass-model-based method to synthesize Center Of Mass trajectories. These trajectories are then used to generate the whole-body motion of the character.<\/jats:p>\n          <jats:p>The use of a point mass model results in physically inconsistent motions and joint limit violations when mapped back to a full- body motion. We mitigate these issues through the use of a novel formulation of the kinematic constraints that allows us to generate a quasi-static Center Of Mass trajectory in a way that is both user-friendly and computationally efficient. We also show that the quasi-static constraint can be relaxed to generate motions usable for computer animation at the cost of a moderate violation of the dynamic constraints.<\/jats:p>\n          <jats:p>Our method was integrated in our open-source contact planner and tested with different scenarios\u2014some never addressed before\u2014featuring legged characters performing non-gaited motions in cluttered environments. The computational efficiency of our trajectory generation algorithm (under one ms to compute one second of trajectory) enables us to synthesize motions in a few seconds, one order of magnitude faster than state-of-the-art methods. Although our method is empirically able to synthesize collision-free motions, the formal handling of environmental constraints is not part of the proposed method and left for future work.<\/jats:p>","DOI":"10.1145\/3213773","type":"journal-article","created":{"date-parts":[[2018,10,23]],"date-time":"2018-10-23T12:16:16Z","timestamp":1540296976000},"page":"1-14","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":25,"title":["2PAC"],"prefix":"10.1145","volume":"37","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3001-8693","authenticated-orcid":false,"given":"Steve","family":"Tonneau","sequence":"first","affiliation":[{"name":"LAAS-CNRS"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6850-7110","authenticated-orcid":false,"given":"Pierre","family":"Fernbach","sequence":"additional","affiliation":[{"name":"LAAS-CNRS"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1275-2851","authenticated-orcid":false,"given":"Andrea Del","family":"Prete","sequence":"additional","affiliation":[{"name":"LAAS-CNRS"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1812-1436","authenticated-orcid":false,"given":"Julien","family":"Pettr\u00e9","sequence":"additional","affiliation":[{"name":"Inria Rennes"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8090-0601","authenticated-orcid":false,"given":"Nicolas","family":"Mansard","sequence":"additional","affiliation":[{"name":"LAAS-CNRS"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2018,10,23]]},"reference":[{"key":"e_1_2_2_1_1","doi-asserted-by":"publisher","DOI":"10.1109\/TVCG.2012.325"},{"key":"e_1_2_2_2_1","doi-asserted-by":"publisher","DOI":"10.1145\/3009907"},{"key":"e_1_2_2_3_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00371-004-0244-4"},{"key":"e_1_2_2_4_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906063979"},{"volume-title":"Robotics: Science and Systems","author":"Carpentier Justin","key":"e_1_2_2_5_1"},{"key":"e_1_2_2_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487538"},{"key":"e_1_2_2_7_1","doi-asserted-by":"publisher","DOI":"10.1145\/636886.636889"},{"key":"e_1_2_2_8_1","doi-asserted-by":"publisher","DOI":"10.1145\/1618452.1618516"},{"key":"e_1_2_2_9_1","doi-asserted-by":"publisher","DOI":"10.1145\/1778765.1781157"},{"key":"e_1_2_2_10_1","doi-asserted-by":"publisher","DOI":"10.21236\/ADA609276"},{"volume-title":"Proceedings of IEEE International Conference on Robototics and Automation (ICRA\u201916)","year":"2016","author":"Prete Andrea Del","key":"e_1_2_2_11_1"},{"key":"e_1_2_2_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2405592"},{"key":"e_1_2_2_13_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2013.01.008"},{"volume-title":"CROC: Convex resolution of centroidal dynamics trajectories to provide a feasibility criterion for the multi contact planning problem (submitted).","year":"2018","author":"Fernbach Pierre","key":"e_1_2_2_14_1"},{"volume-title":"Proceedings of IEEE International Conference on Robotics and Automation (ICRA'17)","author":"Grey Michael X.","key":"e_1_2_2_15_1"},{"key":"e_1_2_2_16_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00371-014-0943-4"},{"key":"e_1_2_2_17_1","doi-asserted-by":"publisher","DOI":"10.1145\/2767002"},{"key":"e_1_2_2_18_1","doi-asserted-by":"publisher","DOI":"10.1111\/cgf.12853"},{"key":"e_1_2_2_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363464"},{"key":"e_1_2_2_20_1","doi-asserted-by":"publisher","DOI":"10.1145\/1778765.1778770"},{"key":"e_1_2_2_21_1","doi-asserted-by":"publisher","DOI":"10.1145\/3072959.3073663"},{"key":"e_1_2_2_22_1","doi-asserted-by":"publisher","DOI":"10.1145\/1477926.1477936"},{"volume-title":"Proceedings of IEEE International Conference Robotics and Automation (ICRA\u201903)","author":"Kajita S.","key":"e_1_2_2_23_1"},{"key":"e_1_2_2_24_1","doi-asserted-by":"publisher","DOI":"10.1145\/2983619"},{"key":"e_1_2_2_25_1","doi-asserted-by":"publisher","DOI":"10.1145\/566654.566605"},{"volume-title":"Proceedings of the Symposium on Computer Animation. 299--308","author":"Lau Manfred","key":"e_1_2_2_26_1"},{"volume-title":"Proceedings of the 2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS\u201916)","author":"Mirabel J.","key":"e_1_2_2_27_1"},{"key":"e_1_2_2_28_1","doi-asserted-by":"publisher","DOI":"10.1145\/2185520.2185539"},{"key":"e_1_2_2_29_1","doi-asserted-by":"publisher","DOI":"10.1145\/3072959.3073707"},{"key":"e_1_2_2_30_1","unstructured":"R. Orsolino M. Focchi C. Mastalli H. Dai D. G. Caldwell and C. Semini. 2018. Application of wrench based feasibility analysis to the online trajectory optimization of legged robots. IEEE Robot. Autom. Lett. (2018) 1--1.  R. Orsolino M. Focchi C. Mastalli H. Dai D. G. Caldwell and C. Semini. 2018. Application of wrench based feasibility analysis to the online trajectory optimization of legged robots. IEEE Robot. Autom. Lett. (2018) 1--1."},{"key":"e_1_2_2_31_1","doi-asserted-by":"publisher","DOI":"10.1145\/2897824.2925881"},{"key":"e_1_2_2_32_1","doi-asserted-by":"publisher","DOI":"10.1145\/3072959.3073602"},{"key":"e_1_2_2_33_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2172152"},{"key":"e_1_2_2_34_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2006.321385"},{"volume-title":"Proceedings of the International Symposium on Digital Human Modeling.","year":"2011","author":"Qiu Zhapeng","key":"e_1_2_2_35_1"},{"volume-title":"Proceedings of the International Symposium on Robotics Research (ISRR\u201915)","year":"2015","author":"Tonneau Steve","key":"e_1_2_2_36_1"},{"key":"e_1_2_2_37_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-60916-4_17"},{"key":"e_1_2_2_38_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2819658"},{"key":"e_1_2_2_39_1","first-page":"633","article-title":"\u00dcber die analytische darstellbarkeit sogenannter willk\u00fcrlicher functionen einer reellen Ver\u00e4nderlichen. Sitzungsberich. K\u00f6nig","volume":"2","author":"Weierstrass Karl","year":"1885","journal-title":"Preu\u00df. Akad. Wissensch. Berlin"},{"key":"e_1_2_2_40_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2798285"},{"key":"e_1_2_2_41_1","doi-asserted-by":"publisher","DOI":"10.1145\/218380.218422"},{"key":"e_1_2_2_42_1","doi-asserted-by":"publisher","DOI":"10.1145\/1276377.1276509"}],"container-title":["ACM Transactions on Graphics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3213773","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3213773","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T23:43:54Z","timestamp":1750290234000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3213773"}},"subtitle":["Two-Point Attractors for Center Of Mass Trajectories in Multi-Contact Scenarios"],"short-title":[],"issued":{"date-parts":[[2018,10,23]]},"references-count":42,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2018,10,31]]}},"alternative-id":["10.1145\/3213773"],"URL":"https:\/\/doi.org\/10.1145\/3213773","relation":{},"ISSN":["0730-0301","1557-7368"],"issn-type":[{"type":"print","value":"0730-0301"},{"type":"electronic","value":"1557-7368"}],"subject":[],"published":{"date-parts":[[2018,10,23]]},"assertion":[{"value":"2017-09-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2018-07-01","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2018-10-23","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}