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PHYSICS-BASED ANIMATION AND CONTROL OF FLEXIBLE CHARACTERS

This work deals with the animation and control of flexible and active characters. These are characters whose rigidity and shape can vary in accordance with the desired aesthetic result and goal of the motion. In our approach characters change shape and learn to move using a set of user-defined deformation models, implemented using free-form deformations. Restricting the possible deformations to those which can be constructed by the set of predefined deformation models allows for both efficient simulation and predictable results. The interaction with the environment is physics-based and it is implemented using Lagrangian dynamics. Lagrangian dynamics and the use of parameterized deformations lead to a compact formulation of the equations of motion. Using this physical framework, the control problem can be addressed using methods that have been developed for controlling the motion of simulated articulated figures. In general, our work combines key-framing, physics-based animation techniques, control and motion synthesis for flexible characters.