Realistic articulated character positioning and balance control in interactive environments

The paper addresses the problem of articulated virtual character positioning using dynamic and kinematic constraints with an emphasis on balancing. The balance of the figure is controlled using a new technique based on the precise manipulation of joint torques. Each joint contributes to the control in proportion to its influence on the balance. The method allows one to control the balance either through direct adjustment of the position of the center of mass when the environmental force interaction is negligible, or through the adjustment of the root joint torque when the center of mass does not provide any useful information. The control of the postures is reduced to some intuitive parameters, simplifying the animator´s work enormously. Results are quite realistic and some are presented