Pose controlled physically based motion

Raanan Fattal*, Dani Lischinski

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

5 Scopus citations


In this paper we describe a new method for generating and controlling physically-based motion of complex articulated characters. Our goal is to create motion from scratch, where the animator provides a small amount of input and gets in return a highly detailed and physically plausible motion. Our method relieves the animator from the burden of enforcing physical plausibility, but at the same time provides full control over the internal DOFs of the articulated character via a familiar interface. Control, over the global DOFs is also provided by supporting kinematic constraints. Unconstrained portions of the motion are generated in real time, since the character is driven by joint torques generated by simple feedback controllers. Although kinematic constraints are satisfied using an iterative search (shooting), this process is typically inexpensive, since it only adjusts a few DOFs at a few time instances. The low expense of the optimization, combined with the ability to generate unconstrained motions in real time yields an efficient and practical tool, which is particularly attractive for high inertia motions with a relatively small number of kinematic constraints.

Original languageAmerican English
Pages (from-to)777-787
Number of pages11
JournalComputer Graphics Forum
Issue number4
StatePublished - Dec 2006


  • Animation control
  • Articulated characters
  • Feedback controllers
  • Kinematic constraints
  • Physically based motion
  • Shooting


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