数据和模型混合驱动的虚拟人运动生成与控制技术研究
|
摘要
针对当前虚拟人特定动作生成所面临的工作繁杂、可控性和适应性差等难题,本文采用数据和模型混合驱动的策略,分别从人体运动系统的建模仿真方法、考虑全身姿态变化的虚拟人抓取、操作类动作快速生成、虚拟人关键帧姿态的自动交互生成以及虚拟人全身运动的多优先级编辑合成与交互控制等方面对虚拟人的运动生成与控制技术进行了深入研究,提出了相应的控制策略和模型,并对传统的算法做了改进,主要研究内容概括如下：
(1)论文首先在第一章对虚拟人运动生成与控制技术的国内外研究现状进行了概述,对不同方法的优缺点进行了分析、比较,提出采用数据和模型混合驱动的策略进行虚拟人的运动生成与控制技术研究,以期在虚拟人动作的逼真性、可控性和灵活性之间取得最佳地折衷。然后,在第二章对人体运动系统的建模仿真方法进行了深入研究,为后续工作建立数学基础。
(2)对于考虑虚拟人全身姿态变化的抓取、操作类动作姿态快速生成问题,本文提出将姿态样本库和解析逆向运动学算法相结合,上肢姿态由解析逆向运动学算法在线实时求解,全身的其余关节姿态直接由事先离线构建的姿态样本生成,保证了算法的实时交互性。对于7自由度的上肢关节链肘圆问题,提出了腕关节旋转量最小的优化指标,将优化求解和定向搜索相结合实现了上肢关节姿态的快速计算生成,并在求解过程中融合了碰撞检测及关节旋转角度的生理范围约束判断,确保动作姿态的物理逼真。在姿态样本库的离线设计实现时,提出基于肩关节的高度变化进行姿态样本的间隔采样与设计生成,给定目标点信息后,利用姿态库中各姿态样本的肩关节高度信息实现了对应所需姿态样本的快速搜索匹配。整个抓取、操作类动作姿态生成过程最显著的优点为实时性高,可以方便地应用于游戏、操作训练等交互应用领域。
(3)对于虚拟人关键帧姿态的自动交互生成问题,提出了将姿态样本库和带优先级的逆向运动学(PIK,Prioritized Inverse Kinematics)算法相结合,首先根据任务约束由姿态样本库生成最终理想姿态的估计值并用作PIK算法所需的初始参考姿态,然后利用PIK算法对所有任务约束按优先级顺序进行逆向运动学(IK,Inverse Kinematics)迭代求解,实现全身姿态的进一步优化生成。既克服了传统基于数据样本的IK算法只能生成与原有姿态样本差别不大的姿态的限制,又可适度保证最终姿态结果的逼真自然性。提出了参数化姿态拼接技术用于虚拟人全身姿态的估计生成,先根据不同的任务约束对全身关节进行分组,然后通过最近邻参数化插值方法实现了不同关节组的姿态求解,保证拼接合成的全身姿态与最终理想的全身姿态具有全局相似性。随后以姿态估计值为初始参考姿态,利用PIK算法实现全身姿态的进一步优化求解。为了保证最终姿态结果的静态平衡,在PIK算法的迭代计算过程中,提出了一种新的平衡约束迭代求解策略,将静态平衡约束和其它任务约束分层单独求解,解决了平衡任务约束的优先级设置问题,并可确保最终姿态结果的静态平衡性。将基于姿态样本库的参数化姿态拼接技术和PIK算法相结合,一方面克服了传统参数化插值方法要求所有动作姿态样本具有相同任务约束的限制,姿态样本不需要与各种任务约束进行精确匹配,并可大幅减少所需姿态样本的数量；另一方面解决了PIK算法的初值选取问题,相应地减少了PIK算法所需的迭代求解次数,提高了求解计算效率,为虚拟人全身姿态的自动交互生成提供了一种实用、高效的算法思路。
(4)为了使运动捕捉数据驱动的虚拟人能够根据用户的各种交互控制输入及外界不可预料的小幅动态物理交互,自动生成各种逼真的反应性动作,提出了一种基于各种任务约束的冗余空间,在加速度层次上的、具有任意多个优先级的虚拟人全身运动编辑合成与交互控制算法。给定某一参考动作序列后,算法可根据用户的各种交互控制输入及其相互之间的优先级顺序,生成期望的关节加速度信息,并通过调整期望关节加速度的方式对运动改编结果进行了在线的动态平衡修正。在对原有动作数据进行多优先级运动改编过程中,引入了选择矩阵的概念,使本文所提出的运动数据编辑合成与交互控制算法可以对笛卡尔任务空间和关节空间中的高层任务约束进行统一处理。当虚拟人受到外界的小幅动态交互作用后,由于多优先级运动改编算法在加速度层次上实现,可以方便地基于期望的关节加速度信息,利用考虑虚拟人与外界交互作用力的逆向动力学算法进行动力学跟踪控制器的构建,从而通过动力学仿真实现反应跟随性动作生成。在动力学仿真过程中,提出将交互作用力的优化求解方法和近似估算方法相结合,既提高了动力学仿真的计算效率,又可保证动力学跟踪控制器的精度。当动态物理交互作用消除后,为提高求解计算效率,系统需重新转入单纯的运动学改编,提出了一种简便的运动学改编与动力学仿真之间的过渡处理方法。加速度层次上的多优先级运动编辑合成与交互控制算法实现了运动学约束处理和动力学仿真的无缝衔接,为虚拟人的运动控制提供了一个统一的算法框架。
(5)最后进行了虚拟人运动生成与控制仿真集成软件环境原型系统开发,以现有的虚拟人应用开发软件为基础,根据其优缺点进行了集成开发,整个软件环境划分为前台界面层、中间数据层和后台的仿真计算层,以广泛应用的商业软件Poser和DI_Guy软件平台分别作为交互界面和可视化渲染输出,方便了相关应用系统开发。随后以某导弹武器装备模拟操作训练系统为应用实例,进行了虚拟人应用模块的开发,对本文所提出的模型算法和集成软件环境原型系统进行了实例验证。
Currently the motion generation of virtual characters is encumbered by the difficulties such as tedious and time-consuming labor, poor controllability, bad adaptability etc.Based on the hybrid data-and model-driven strategy, this thesis studies the motion generation and control techniques of virtual characters deeply by focusing on the human motion system modeling, quick generation of grasping or operating motions with changes of the whole body posture considered, automatic and interactive whole body postures generation and motion editing and interactive control of virtual characters with multi-priorities. In the dissertation, corresponding control strategies and models are proposed and the traditional algorithms are improved at the same time. The main contents of the dissertation can be summarized as follows:
(1)Firstly, in chapter one, the actual research states of the virtual character motion generation and control technology are summarized and the advantages and disadvantages of different methods are compared. In order to get the best trade-off between the lifelikeness, the controllability and the adaptability, the hybrid data-and model-driven strategy is adopted to start the research. Afterwards, in chapter two, the modeling methods of the human motion system are studied deeply so that the mathematical foundation of further researches can be established.
(2) On the quick generation of grasping or operating motion with changes of the whole body posture considered, the combination of posture samples and the analytical inverse kinematics algorithm is proposed to ensure the real-time interactivity of the whole algorithm. The upper limb joint angles are solved using the analytical inverse kinematics algorithm on-line and the remaining joint angles are directly generated by posture samples which are constructed off-line. For the redundancy problem in the 7 DoFs (Degree of Freedoms) upper limb, a new objective function to minimize the wrist joint angles is presented and the optimized swivel angel is calculated efficiently by combining the optimization with the directed searching method. Furthermore, the collision detection and joint limit constraints are considered in the calculation to ensure the physical correctness of the upper limb posture. In the off-line design of the posture library, a new posture sampling and design principle based on the vertical height of the shoulder joint is proposed. Once the reaching target is given, the corresponding posture sample can be determined efficiently from the posture library according to the shoulder joint height values of different posture samples.The main advantage of the whole process is its high speed and therefore suitable for interactive applications such as games, operation trainings and so on.
(3) On the automatic and interactive whole-body key posture generation, the combination of posture samples and the PIK (Prioritized Inverse Kinematics) algorithm is proposed. Firstly, the guess of the final desired body posture is generated by posture samples according to constraints specified by the user and used as the initial starting posture needed by the PIK algorithm.Then, starting from this initial guess and with all constraints considered at different priority levels, the PIK algorithm can be initialized with a bias defined by this particularly initial guess and iterated step by step to get a final refined posture. In this way, the limitation of traditional example-based IK (Inverse Kinematics) methods that they can only generate postures similar with examples can be overcome and simultaneously the naturalness of final posture results can be ensured to a certain extent. The parametric posture splicing technique is proposed to generate the guess of the desired whole body posture. In the first step, according to the set of the high level constraints, the whole body is divided into some partial joint groups, whose postures are then generated from the same posture database by using the parametric interpolation of the nearest neighbors and consequently the spliced whole body posture has a certain global similarity with the finally desired posture.Afterwards, starting from this initial guess,the PIK algorithm is used to refine the body posture step by step.To ensure the static balance of the final posture result, during the iterative loop of the PIK algorithm, a new balance calculation strategy that solves the static balance constraint and other task constraints individually rather than in the same priority loop is proposed. By this way, the problem in the determination of the priority level of the static balance constraint is solved and the balance requirement of the final posture result is satisfied simultaneously. The combination of the parametric posture splicing and the PIK algorithm can not only overcome the restriction that all posture samples must have the same kind of constraints in parametric interpolation methods and reduce the required number of posture samples but also can solve the initial posture selection problem in the PIK algorithm and thus improve the running efficiency of the PIK algorithm by reducing the number of needed iterative steps.In the summary, a pragmatic and efficient algorithmic framework is presented for the automatic and interactive generation of the whole body posture.
(4) In order to make virtual characters driven by motion capture data response adaptively and lifelikely to different interactive control inputs from users or unpredicted small-scale dynamic disturbances from external environments,an interactive motion editing and control algorithm with multi-priority is presented under the acceleration level within the redundancy space of different task constraints.After a single motion sequence is given, the desired joint accelerations can be generated according to control inputs and their relative priorities set by the user and simultaneously the dynamic balance of motion adaption results can be corrected on-line by directly adjusting the desired joint accelerations.During the process of the multi-priority motion adaption of the original reference motion, the definition of the selection matrix is proposed so that the task-level constraints defined no matter in the Cartesian space or joint space can be processed in a unified way. When small-scale dynamic interactions are detected, the system is switched to the dynamic simulation immediately to generate reactive motions. Using desired joint accelerations generated by the multi-priority motion adaption algorithm, the dynamic tracking controller required for the forward dynamic simulation can be constructed conveniently by the model-based inverse dynamics with contact constraints considered. During the dynamic simulation, the combination of the optimization and the approximation method of contact forces are proposed to compute active control torques. In this way, the running efficiency of the dynamic simulation can be improved and the accuracy of the dynamic controller can be ensured simultaneously. When the dynamic perturbations are removed, a convenient transition method is proposed so that the system can switch back to the kinematics motion editing process to improve the running efficiency. Under the acceleration level, a seamless transition between the kinematics and dynamic motion editing is realized and thus a unified motion control algorithm is provided.
(5) At the end of the dissertation, based on the currently available virtual character software, the prototype of the integrated software platform for the virtual character motion generation and control is established according to their corresponding advantages and disadvantages.The prototype of the whole software platform can be divided into the foreground interface layer, the middle data layer and the background calculation layer. Particularly, the commonly-used commercial software Poser and DI_Guy are used respectively as the interactive interface and the rendering engine and thus the development of corresponding applications can be facilitated. Finally, the module of virtual characters in the training simulator of a certain kind of missile equipment is developed to evaluate different motion generation and control algorithms and the prototype of the integrated software-environment proposed in the dissertation.
(1)论文首先在第一章对虚拟人运动生成与控制技术的国内外研究现状进行了概述,对不同方法的优缺点进行了分析、比较,提出采用数据和模型混合驱动的策略进行虚拟人的运动生成与控制技术研究,以期在虚拟人动作的逼真性、可控性和灵活性之间取得最佳地折衷。然后,在第二章对人体运动系统的建模仿真方法进行了深入研究,为后续工作建立数学基础。
(2)对于考虑虚拟人全身姿态变化的抓取、操作类动作姿态快速生成问题,本文提出将姿态样本库和解析逆向运动学算法相结合,上肢姿态由解析逆向运动学算法在线实时求解,全身的其余关节姿态直接由事先离线构建的姿态样本生成,保证了算法的实时交互性。对于7自由度的上肢关节链肘圆问题,提出了腕关节旋转量最小的优化指标,将优化求解和定向搜索相结合实现了上肢关节姿态的快速计算生成,并在求解过程中融合了碰撞检测及关节旋转角度的生理范围约束判断,确保动作姿态的物理逼真。在姿态样本库的离线设计实现时,提出基于肩关节的高度变化进行姿态样本的间隔采样与设计生成,给定目标点信息后,利用姿态库中各姿态样本的肩关节高度信息实现了对应所需姿态样本的快速搜索匹配。整个抓取、操作类动作姿态生成过程最显著的优点为实时性高,可以方便地应用于游戏、操作训练等交互应用领域。
(3)对于虚拟人关键帧姿态的自动交互生成问题,提出了将姿态样本库和带优先级的逆向运动学(PIK,Prioritized Inverse Kinematics)算法相结合,首先根据任务约束由姿态样本库生成最终理想姿态的估计值并用作PIK算法所需的初始参考姿态,然后利用PIK算法对所有任务约束按优先级顺序进行逆向运动学(IK,Inverse Kinematics)迭代求解,实现全身姿态的进一步优化生成。既克服了传统基于数据样本的IK算法只能生成与原有姿态样本差别不大的姿态的限制,又可适度保证最终姿态结果的逼真自然性。提出了参数化姿态拼接技术用于虚拟人全身姿态的估计生成,先根据不同的任务约束对全身关节进行分组,然后通过最近邻参数化插值方法实现了不同关节组的姿态求解,保证拼接合成的全身姿态与最终理想的全身姿态具有全局相似性。随后以姿态估计值为初始参考姿态,利用PIK算法实现全身姿态的进一步优化求解。为了保证最终姿态结果的静态平衡,在PIK算法的迭代计算过程中,提出了一种新的平衡约束迭代求解策略,将静态平衡约束和其它任务约束分层单独求解,解决了平衡任务约束的优先级设置问题,并可确保最终姿态结果的静态平衡性。将基于姿态样本库的参数化姿态拼接技术和PIK算法相结合,一方面克服了传统参数化插值方法要求所有动作姿态样本具有相同任务约束的限制,姿态样本不需要与各种任务约束进行精确匹配,并可大幅减少所需姿态样本的数量；另一方面解决了PIK算法的初值选取问题,相应地减少了PIK算法所需的迭代求解次数,提高了求解计算效率,为虚拟人全身姿态的自动交互生成提供了一种实用、高效的算法思路。
(4)为了使运动捕捉数据驱动的虚拟人能够根据用户的各种交互控制输入及外界不可预料的小幅动态物理交互,自动生成各种逼真的反应性动作,提出了一种基于各种任务约束的冗余空间,在加速度层次上的、具有任意多个优先级的虚拟人全身运动编辑合成与交互控制算法。给定某一参考动作序列后,算法可根据用户的各种交互控制输入及其相互之间的优先级顺序,生成期望的关节加速度信息,并通过调整期望关节加速度的方式对运动改编结果进行了在线的动态平衡修正。在对原有动作数据进行多优先级运动改编过程中,引入了选择矩阵的概念,使本文所提出的运动数据编辑合成与交互控制算法可以对笛卡尔任务空间和关节空间中的高层任务约束进行统一处理。当虚拟人受到外界的小幅动态交互作用后,由于多优先级运动改编算法在加速度层次上实现,可以方便地基于期望的关节加速度信息,利用考虑虚拟人与外界交互作用力的逆向动力学算法进行动力学跟踪控制器的构建,从而通过动力学仿真实现反应跟随性动作生成。在动力学仿真过程中,提出将交互作用力的优化求解方法和近似估算方法相结合,既提高了动力学仿真的计算效率,又可保证动力学跟踪控制器的精度。当动态物理交互作用消除后,为提高求解计算效率,系统需重新转入单纯的运动学改编,提出了一种简便的运动学改编与动力学仿真之间的过渡处理方法。加速度层次上的多优先级运动编辑合成与交互控制算法实现了运动学约束处理和动力学仿真的无缝衔接,为虚拟人的运动控制提供了一个统一的算法框架。
(5)最后进行了虚拟人运动生成与控制仿真集成软件环境原型系统开发,以现有的虚拟人应用开发软件为基础,根据其优缺点进行了集成开发,整个软件环境划分为前台界面层、中间数据层和后台的仿真计算层,以广泛应用的商业软件Poser和DI_Guy软件平台分别作为交互界面和可视化渲染输出,方便了相关应用系统开发。随后以某导弹武器装备模拟操作训练系统为应用实例,进行了虚拟人应用模块的开发,对本文所提出的模型算法和集成软件环境原型系统进行了实例验证。
Currently the motion generation of virtual characters is encumbered by the difficulties such as tedious and time-consuming labor, poor controllability, bad adaptability etc.Based on the hybrid data-and model-driven strategy, this thesis studies the motion generation and control techniques of virtual characters deeply by focusing on the human motion system modeling, quick generation of grasping or operating motions with changes of the whole body posture considered, automatic and interactive whole body postures generation and motion editing and interactive control of virtual characters with multi-priorities. In the dissertation, corresponding control strategies and models are proposed and the traditional algorithms are improved at the same time. The main contents of the dissertation can be summarized as follows:
(1)Firstly, in chapter one, the actual research states of the virtual character motion generation and control technology are summarized and the advantages and disadvantages of different methods are compared. In order to get the best trade-off between the lifelikeness, the controllability and the adaptability, the hybrid data-and model-driven strategy is adopted to start the research. Afterwards, in chapter two, the modeling methods of the human motion system are studied deeply so that the mathematical foundation of further researches can be established.
(2) On the quick generation of grasping or operating motion with changes of the whole body posture considered, the combination of posture samples and the analytical inverse kinematics algorithm is proposed to ensure the real-time interactivity of the whole algorithm. The upper limb joint angles are solved using the analytical inverse kinematics algorithm on-line and the remaining joint angles are directly generated by posture samples which are constructed off-line. For the redundancy problem in the 7 DoFs (Degree of Freedoms) upper limb, a new objective function to minimize the wrist joint angles is presented and the optimized swivel angel is calculated efficiently by combining the optimization with the directed searching method. Furthermore, the collision detection and joint limit constraints are considered in the calculation to ensure the physical correctness of the upper limb posture. In the off-line design of the posture library, a new posture sampling and design principle based on the vertical height of the shoulder joint is proposed. Once the reaching target is given, the corresponding posture sample can be determined efficiently from the posture library according to the shoulder joint height values of different posture samples.The main advantage of the whole process is its high speed and therefore suitable for interactive applications such as games, operation trainings and so on.
(3) On the automatic and interactive whole-body key posture generation, the combination of posture samples and the PIK (Prioritized Inverse Kinematics) algorithm is proposed. Firstly, the guess of the final desired body posture is generated by posture samples according to constraints specified by the user and used as the initial starting posture needed by the PIK algorithm.Then, starting from this initial guess and with all constraints considered at different priority levels, the PIK algorithm can be initialized with a bias defined by this particularly initial guess and iterated step by step to get a final refined posture. In this way, the limitation of traditional example-based IK (Inverse Kinematics) methods that they can only generate postures similar with examples can be overcome and simultaneously the naturalness of final posture results can be ensured to a certain extent. The parametric posture splicing technique is proposed to generate the guess of the desired whole body posture. In the first step, according to the set of the high level constraints, the whole body is divided into some partial joint groups, whose postures are then generated from the same posture database by using the parametric interpolation of the nearest neighbors and consequently the spliced whole body posture has a certain global similarity with the finally desired posture.Afterwards, starting from this initial guess,the PIK algorithm is used to refine the body posture step by step.To ensure the static balance of the final posture result, during the iterative loop of the PIK algorithm, a new balance calculation strategy that solves the static balance constraint and other task constraints individually rather than in the same priority loop is proposed. By this way, the problem in the determination of the priority level of the static balance constraint is solved and the balance requirement of the final posture result is satisfied simultaneously. The combination of the parametric posture splicing and the PIK algorithm can not only overcome the restriction that all posture samples must have the same kind of constraints in parametric interpolation methods and reduce the required number of posture samples but also can solve the initial posture selection problem in the PIK algorithm and thus improve the running efficiency of the PIK algorithm by reducing the number of needed iterative steps.In the summary, a pragmatic and efficient algorithmic framework is presented for the automatic and interactive generation of the whole body posture.
(4) In order to make virtual characters driven by motion capture data response adaptively and lifelikely to different interactive control inputs from users or unpredicted small-scale dynamic disturbances from external environments,an interactive motion editing and control algorithm with multi-priority is presented under the acceleration level within the redundancy space of different task constraints.After a single motion sequence is given, the desired joint accelerations can be generated according to control inputs and their relative priorities set by the user and simultaneously the dynamic balance of motion adaption results can be corrected on-line by directly adjusting the desired joint accelerations.During the process of the multi-priority motion adaption of the original reference motion, the definition of the selection matrix is proposed so that the task-level constraints defined no matter in the Cartesian space or joint space can be processed in a unified way. When small-scale dynamic interactions are detected, the system is switched to the dynamic simulation immediately to generate reactive motions. Using desired joint accelerations generated by the multi-priority motion adaption algorithm, the dynamic tracking controller required for the forward dynamic simulation can be constructed conveniently by the model-based inverse dynamics with contact constraints considered. During the dynamic simulation, the combination of the optimization and the approximation method of contact forces are proposed to compute active control torques. In this way, the running efficiency of the dynamic simulation can be improved and the accuracy of the dynamic controller can be ensured simultaneously. When the dynamic perturbations are removed, a convenient transition method is proposed so that the system can switch back to the kinematics motion editing process to improve the running efficiency. Under the acceleration level, a seamless transition between the kinematics and dynamic motion editing is realized and thus a unified motion control algorithm is provided.
(5) At the end of the dissertation, based on the currently available virtual character software, the prototype of the integrated software platform for the virtual character motion generation and control is established according to their corresponding advantages and disadvantages.The prototype of the whole software platform can be divided into the foreground interface layer, the middle data layer and the background calculation layer. Particularly, the commonly-used commercial software Poser and DI_Guy are used respectively as the interactive interface and the rendering engine and thus the development of corresponding applications can be facilitated. Finally, the module of virtual characters in the training simulator of a certain kind of missile equipment is developed to evaluate different motion generation and control algorithms and the prototype of the integrated software-environment proposed in the dissertation.
引文
[1]刘涛,孙守迁,潘云鹤.面向艺术与设计的虚拟人技术研究[J].计算机辅助设计与图形学学报,2004,16(11)：1475-1484.
[2]王兆其.虚拟人合成研究综述[J].中国科学院研究生院学报,2000,17(2)：89-95.
[3]徐孟,孙守迁,潘云鹤.虚拟人运动控制技术的研究[J].系统仿真学报,2003,15(3)：338-342.
[4]罗冠,郝重阳,张雯等.虚拟人技术研究综述[J].计算机工程,2005,31(18)：7-9.
[5]Nadia Magnenat-Thalmann, Daniel Thalmann. Virtual Humans:Thirty Years of Research, What Next?[J].The Visual Computer,2005,21(12):997-1015.
[6]Petros Faloutsos. Composable Controllers for Physics-Based Character Animation[D].University Of Toronto,2002.
[7]Linbo Luo, Suiping Zhou, Wentong Cai et al.Agent-based Human Behavior Modeling for Crowd Simulation[J].Computer Animation and Virtual World,2008, 19(3,4):271-281.
[8]Andrew Park, Tom Calvert. A Social Agent Pedestrian Model[J].Computer Animation and Virtual World,2008,19(3,4):331-340.
[9]Wei Shao, Demetri Terzopoulos. Autonomous Pedestrians[J].Graphical Models,2007,69(5,6):246-274.
[10]Michael McGuigan. Graphics Turing Test[Z].arXiv:cs/0603132v1[cs.GR], 2006.
[11]唐冰：反应跟随性人体动画生成研究[D].杭州：淅江大学,2006.
[12]Norman I. Badler, Cary B.Phillips, Bonnie L. Webber. Simulating Humans: Computer Graphics Animation and Control [M].London:Oxford University Press, 1999.
[13]王鑫,孙守迁,柴春雷.三维人体运动编辑与合成技术综述[J].中国图象图形学报,2009,14(2)：233-242.
[14]R. Boulic, B.Ulciny, D.Thalmann. Versatile Walk Engine[J].Journal of Game Development,2004,1(1):29-50.
[15]Harold C.Sun, Dimitris N. Metaxas. Automating Gait Generation[C].In Proceedings of the 28th Annual Conference on Computer Graphics and Interactive Techniques, SIGGRAPH 2001,Los Angeles, California,2001:261-270.
[16]Michael Mandel.Moving Beyond Ragdolls:Generating Versatile Human Behaviors by Combining Motion Capture and Controlled Physical Simulation[R].In Proceedings of Game Developers Conference,2005.
[17]Jessica K. Hodgins, Wayne L.Wooten, David C.Brogan et al.Animating Human Athletics[C].In Proceedings of the 22nd Annual Conference on Computer Graphics and Interactive Techniques,1995:71-78.
[18]W. Wooten, J. Hodgins.Animation of Human Diving[J].Computer Graphics Forum,1996,15(1):3-13.
[19]W. Wooten, J. Hodgins.Simulating Leaping, Tumbling, Landing and Balancing Humans[C].In Proceedings of IEEE International Conference on Robotics and Automation,2000:656-662.
[20]Neff, M.,Fiume, E. Modeling Tension and Relaxation for Computer Animation[C].In Proceedings of the 2002 ACM SIGGRAPH/Eurographics Symposium on Computer Animation,2002:81-88.
[21]J. K. Hodgins, N. S.Pollard. Adapting Simulated Behaviors for New Characters[C].In Proceedings of the 24th Annual Conference on Computer Graphics and Interactive Techniques,1997:153-162.
[22]KangKang Yin, Stelian Coros, Philippe Beaudoin et al.Continuation Methods for Adapting Simulated Skills[J].ACM Transactions on Graphics,2008,27(3),Article No.81:1-7.
[23]Frank C.Anderson, Marcus G. Pandy. A Dynamic Optimization Solution for Vertical Jumping in Three Dimensions[J].Computer Methods in Biomechanics and Biomedical Engineering,1999,2(3):201-231.
[24]Joo Hyun Kim. Dynamics and Motion Planning of Redundant Manipulators Using Optimization, with Applications to Human Motion[D].Mechanical Engineering in the Graduate College of the University of Iowa,2006.
[25]朱永峰,费广正,黄赞榛等.运动捕捉数据重用方法的研究[J].中国传媒大学学报(自然科学版),2007,14(4)：46-54.
[26]Daniel Thalmann. Motion-Modeling:Can We Get Rid of Motion Capture?[C]. In Workshop of Motion in Games (2008), LNCS 5277,2008:121-131.
[27]Weidong Geng, Gino Yu. Reuse of Motion Capture Data in Animation:A Review[C].In Proceeding of International Conference on Computational Science and Its Applications 2003,LNCS 2669,2003:620-629.
[28]Witkin A, Popovid Z. Motion Warping[C].In Proceedings of the 22nd Annual Conference on Computer Graphics and Interactive Techniques,1995:105-108.
[29]Umuma M,Anjyo K,Takeuchi R. Fourier Principles for Emotion-Based Human Figure Animation[C].In Proceedings of the 22nd Annual International Conference on Computer Graphics and Interactive Techniques,1995:91-96.
[30]Andrew Witkin, Michael Kass. Spacetime constraints [C].In Proceedings of the 15th Annual Conference on Computer Graphics and Interactive Techniques,1988: 159-168.
[31]Michael Gleicher. Motion Editing with Spacetime Constraints[C].In Proceedings of Interactive 3D Graphics,1997:139-148.
[32]Jehee Lee, Sung Yong Shin. A Hierarchical Approach to Interactive Motion Editing for Human-Like Figures[C].In Proceedings of the 26th Annual Conference on Computer Graphics and Interactive Techniques, SIGGRAPH 99,1999:39-48.
[33]Michael Gleicher. Comparing Constraint-Based Motion Editing Methods[J]. Graphic Models,2001,63(2):107-134.
[34]Kovar, L.,Gleicher, M, Pighin F.Motion Graphs[J].ACM Transactions on Graphics,2002,21(3):473-482.
[35]Jehee Lee, Jinxiang Chai, Paul S.A. Reitsma et al.Interactive Control Of Avatars Animated With Human Motion Data[J].ACM Transactions on Graphics,2002, 21(3):491-500.
[36]Arikan,O.,Forsyth, D.A. Interactive Motion Generation from Examples[J]. ACM Transactions on Graphics,2002,21(3):483-490.
[37]Gleicher, M.,Shin, H.,Kovar, L.,Jepsen, A. Snap-Together Motion: Assembling Run-Time Animation[C].In ACM SIGGRAPH/Eurographics Symposium on Interactive 3D Graphics,2003:181-188.
[38]Hyun Joon Shin, Hyun Seok Oh. Fat graphs:Constructing an Interactive Character with Continuous Controls[C].In ACM SIGGRAPH/Eurographics Symposium on Computer Animation,2006:291-298.
[39]Charles Rose, Michael Cohen, Bobby Bodenheimer. Verbs and Adverbs: Multidimensional Motion Interpolation[J].IEEE Computer Graphics and Applications, 1998,18(5):32-40.
[40]Charles F.Rose III, Peter-Pike J. Sloan,Michael F.Cohen. Artist-Directed Inverse-Kinematics Using Radial Basis Function Interpolation[J].Computer Graphics Forum,2001,20(3):239-250.
[41]Lucas Kovar, Michael Gleicher. Automated Extraction and Parameterization of Motions in Large Data Sets[J].ACM Transactions on Graphics,2004,23(3): 559-568.
[42]Amr Adel Hassan Ahmed. Parametric Synthesis of Human Animation[D]. Surrey:University of Surrey,2004.
[43]Tomohiko Mukai, Shigeru Kuriyama. Geostatistical Motion Interpolation[J]. ACM Transactions on Graphics,2005,24(3):1062-1070.
[44]Heck, Rachel, Michael Gleicher. Parametric Motion Graph[C].In Proceedings of Symposium on Interactive 3D Graphics and Games,2007:129-136.
[45]Liming Zhao, Alla Safonova. Achieving Good Connectivity in Motion Graphs[J].Graphical Models,2009,71(4):139-152.
[46]Leslie Ikemoto, David A. Forsyth. Enriching a Motion Collection by Transplanting Limbs[C].In Proceedings of the 2004 ACM SIGGRAPH/Eurographics Symposium on Computer Animation,2004:99-108.
[47]Heck, R.,Kovar, L.,Gleicher, M. Splicing Upper-Body Actions with Locomotion[J].Computer Graphic Forum,2006,25(3):459-466.
[48]A. Majkowska, V. B.Zordan, P. Faloutsos. Automatic Splicing for Hand and Body Animations[C].In Proceedings of the 2006 ACM SIGGRAPH/Eurographics Symposium on Computer Animation,2006:309-316.
[49]Won-Seob Jang, Won-Kyu Lee, In-Kwon Lee. Enriching a Motion Database by Analogous Combination of Partial Human Motions[J].The Visual Computer,2008, 24(4):271-280.
[50]Dongwook Ha, JungHyun Han. Motion Synthesis with Decoupled Parameterization[J].The Visual Computer,2008,24(7):587-594.
[51]Pascal Glardon, Ronan Boulic, Daniel Thalmann. PCA-based Walking Engine using Motion Capture Data[C].In Proceedings of the Computer Graphics International, 2004:292-298.
[52]Matthew B,Aaron H. Style Machines[C].In Proceedings of the 27th Annual Conference on Computer Graphics and Interactive Techniques, New Orleans, Louisiana, USA,2000:193-192.
[53]Tanco L M, Hilton A. Realistic Synthesis of Novel Human Movements from a Database of Motion Capture Examples[C].In Proceeding of IEEE Workshop on Human Motion 2000,Austin,Texas,USA,2000:1137-142.
[54]Yan Li,Tianshu Wang, Heung-Yeung Shum.Motion Texture:a Two-Level Statistical Model for Character Motion Synthesis[J].ACM Transactions on Graphics, 2002,21(3):465-472.
[55]Vladimir Pavlovic, James M. Rehg, John MacCormick. Learning Switching Linear Models of Human Motion[C].In Advances in Neural Information Processing Systems 13,2001:981-987.
[56]Jack M. Wang, David J. Fleet, Senior Member et al.Gaussian Process Dynamical Models for Human Motion[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,2008,30(2):283-298.
[57]Hyun Joon Shin, Jehee Lee. Motion Synthesis and Editing in Low-Dimensional Spaces[J].Computer Animation and Virtual World,2006,17(3,4): 219-227.
[58]Faraway J, Reed. M. Statistics for Digital Human Modeling in Ergonomics[J]. Technometrics,2007, (49):262-276.
[59]Raquel Urtasun, Pascal Glardon, Ronan Boulic et al. Style-based Motion Synthesis[J].Computer Graphics Forum,2004,23(4):1-14.
[60]Takuya Terasaki, Masaki Oshita. Motion Style Transformation by Extracting and Applying Motion Features[C].In Proceeding of International Conference on Computer Animation and Social Agents,2006:243-252.
[61]Herwin van Welbergen, Zsofia Ruttkay, Balazs Varga. Informed Use of Motion Synthesis Methods[C].In Workshop of Motion in Games (2008), LNCS 5277, 2008:132-143.
[62]罗冠.虚拟人的运动生成及控制技术研究[D].西安：西北工业大学,2003.
[63]Edward M. Sims. Reusable, Lifelike Virtual Humans for Mentoring and Role-Playing[J].Computers & Education,2007, (49):75-92.
[64]朱彦军,姜国华.虚拟现实中虚拟人体模型概述[J].计算机仿真,2004,21(1)：11-13.
[65]王宏伟,周前详.虚拟人体系统建模应用综述[C].2007中国控制与决策学术年会论文集,2007：345-347.
[66]王兆其,高文.基于虚拟人合成技术的中国手语合成方法[J].软件学报,2002,13(10)：2051-2056.
[67]孙守迁,王鑫,刁在箴等.艺术体操动作辅助编排系统[J].计算机辅助设计与图形学学报,2008,20(2)：201-206.
[68]徐孟.面向人机工程仿真分析的人体生物力学模型[D].杭州：浙江大学,2006：70-79.
[69]Boston Dynamic.DigitalBiomechanics[EB/OL].http://www.diguy.com, 2008-10-01.
[70]Motion Natural.Endorphin 2.7[EB/OL].http://www.naturalmotion.com, 2009-01-01.
[71]William Swartout, Jonathan Gratch, Randall Hill.Toward Virtual Humans[J]. AI magazine,2006,27(2):96-108.
[72]Karim Abdel-Malek,Jingzhou Yang,Joo H. Kim. Development of the Virtual-Human Santos[C].In Proceeding of the 12th International Conference on Human-Computer Interaction (HCI International 2007), LNCS 4561,2007:490-499.
[73]刘莉,王兆其,朱登明等.基于约束轨迹重构的运动编辑[J].计算机辅助设计与图形学学报,2006,18(10)：1613-1617.
[74]王瑢瑢.基于运动库的三维角色动画生成方法研究与实现[D].北京：中国科学院研究生院,2006.
[75]Dengming Zhu,Zhaoqi Wang,Shihong Xia. Motion Editing with the State Feedback Dynamic Model[C].In Computer Graphics International(CGI) 2006, LNCS 4035,2006:348-359.
[76]魏毅,夏时洪,王兆其.基于物理的人体空中运动仿真[J].软件学报,2008,19(12)：3228-3236.
[77]邱显杰,王兆其,夏时洪等.一种用于体育运动仿真分析的“虚实”对比方法 [J].计算机研究与发展,2005,42(8)：1324-1330.
[78]Shihong Xia, Xianjie Qiu, Zhaoqi Wang. A Novel Framework for Athlete Training Based on Interactive Motion Editing and Silhouette Analysis[C].In Proceedings of the ACM Symposium on Virtual Reality Software and Technology, Monterey, California, USA,2005:56-58.
[79]陈志华.基于运动捕获数据的人体运动编辑技术研究[D].上海：上海交通大学,2006.
[80]高岩.基于内容的运动检索与运动合成[D].上海：上海交通大学,2006.
[81]吴小毛.数据驱动的真实感人体动画技术研究[D].上海：上海交通大学,2007.
[82]罗忠祥,庄越挺,刘丰,潘云鹤.基于时空约束的运动编辑和运动重定向[J].计算机辅助设计与图形学学报,2002,14(12)：1146-151.
[83]郑乐.基于运动捕获数据的若干应用技术研究[D].杭州：淅江大学,2006.
[84]Gengdai Liu, Zhigeng Pan,Zuoyan Lin. Style Subspaces for Character Animation[J].Computer Animation and Virtual World,2008,19(3,4):199-209.
[85]陈逸帆.面向人机工程仿真的虚拟人体运动控制技术[D].杭州：淅江大学,2006.
[86]潘志庚,程熙,唐冰.一种实时虚拟人反应式动画生成算法[J].计算机研究与发展,2009,46(1)：151-157.
[87]程熙,潘志庚.虚拟人运动中受扰的平衡保持算法[J].计算机辅助设计与图形学学报,2009,21(3)：325-330.
[88]Xi Cheng, Gengdai Liu, Zhigeng Pan, Bing Tang. Fragment-Based Responsive Character Motion for Interactive Games[J].The visual computer,2009, 25(5-7):479-485.
[89]Zhigeng Pan, Xi Cheng, Wenzhi Chen, Gengdai Liu, Bing Tang. Real Time Falling Animation with Active and Protective Responses[J].The visual computer,2009, 25(5-7):487-497.
[90]胡晓雁,梁晓辉,赵沁平.自动匹配虚拟人模型与运动数据[J].软件学报,2006,17(10)：2181-2191.
[91]杨跃东,王莉莉,郝爱民.运动串：一种用于行为分割的运动捕获数据表示方法[J].计算机研究与发展,2008,45(3)：527-534.
[92]杨跃东,王莉莉，郝爱民等.基于几何特征的人体运动捕获数据分割方法[J].系统仿真学报,2007,19(10)：2229-2234.
[93]刘贤梅,郝爱民.油田安全作业虚拟仿真训练系统研究[J].系统仿真学报,2006,18(11)：3082-3087.
[94]代晓清.基于运动捕获的运动重定向技术研究[D].天津：天津大学,2007.
[95]倪慧.自主虚拟人关键技术的研究[D].天津：天津大学,2007.
[96]郭丹丹.用于人机测试的虚拟人研究[D].天津：天津大学,2004.
[97]秦文虎,吴宇晖,赵正旭.虚拟角色动作编辑及运动控制[J].东南大学学报(自然科学版),2006,36(5)：720-724.
[98]秦文虎,查骏元,李晓娜等.虚似人群行为的建模和实现方法[J].江苏大学学报(自然科学版),2009,30(1)：58-61.
[99]贺怀清,洪炳熔.虚拟人实时运动控制的研究[J].计算机工程,2000,26(11)：52-55.
[100]洪炳熔,贺怀清.虚拟人步行和跑步运动的实现[J].计算机应用研究,2000(11)：15-19.
[101]贺怀清.虚拟人的建模及运动控制算法的研究[D].哈尔滨：哈尔滨工业大学,2001.
[102]高全胜,洪炳熔.一种虚拟人运动生成和控制方法[J].软件学报,2007,18(9)：2356-2364.
[103]何凯,姜昱明.基于逆运动学的虚拟人行走[J].系统仿真学报,2004,16(6)：1343-1345.
[104]何凯,姜昱明.虚拟人行走运动的研究与实现[J].计算机仿真,2005,22(2)：139-142.
[105]于洋,姜昱明.三维虚拟士兵训练仿真研究[J].计算机工程与应用,2009,45(22)：166-168.
[106]李春霞.IK问题的求解及虚拟人步行运动控制技术的研究[D].武汉：武汉理工大学,2004.
[107]任静丽,杨克俭,郑著彬.虚拟人跑步运动控制技术的研究[J].武汉理工大学学报(交通科学与工程版),2008,32(5)：967-970.
[108]阳小涛.虚拟人建模及游泳运动控制技术的研究[D].武汉：武汉理工大学,2009.
[109]吕川,徐宏强,马麟等.“混合控制”驱动虚拟人实现维修仿真[J].北京航空航天大学学报,2005,31(5)：544-547.
[110]王松山.虚拟维修仿真中人的行为表示[J].系统仿真学报,2005,17(2)：507-509.
[111]郝建平,蒋科艺,王松山等.虚拟维修仿真理论与技术[M].北京：国防工业出版社,2007,126-188.
[112]卢晓军,李焱,贺汉根.基于Petri网的虚拟人行走动作建模及其仿真实现 [J].系统仿真学报,2005,17(11)：2679-2682.
[113]Takeo Kanade, Peter Rander, P J. Narayanan. Virtualized Reality: Constructing Virtual Worlds from Real Scenes[J].IEEE Multimedia, Immersive Telepresence,1997,4(1):34-47.
[114]Edilson de Aguiar, Carsten Stoll, Christian Theobalt. Performance Capture from Sparse Multi-view Video[J].ACM Transactions on Graphics,2008,27(3),Article No.98:1-10.
[115]Gleicher M. More Motion Capture In Games-Can We Make Example-Based Approaches Scale?[C].In Workshop of Motion in Games (2008), LNCS 5277,2008: 82-93.
[116]Kahle W, Leonhardt H,Platzer W.毕玉顺,李振华等译.人体解剖学及彩色图谱[M].济南：山东科学技术出版社,2001.
[117]H. van Welbergen, B.J. H. van Basten, A. Egges et al. Real Time Animation of Virtual Humans:A Trade-off between Naturalness and Control[C].In State-of-the-Art-Report Proceedings of Eurographics, Mark Pauly and Guenther Greiner (eds), Eurographics Association, Munich, Germany,2009:45-72.
[118]John J.Craig.贠超等译.机器人学导论[M].北京：机械工业出版社,2006.
[119]霍伟.机器人动力学与控制[M].北京：高等教育出版社,2005.
[120]Shoemake K. Animating Rotation with Quaternion Curves[J].Computer Graphics,1985,19(3):245-254.
[121]F.S.Grassia. Practical Parameterization of Rotations using the Exponential Map[J].Journal of Graphics Tools,1998,3(3):29-48.
[122]郭文彬,魏木生.奇异值分解及其在广义逆理论中的应用[M].北京：科学出版社,2008.
[123]姚俊,张玉春.工程矩阵方法[M].北京：国防工业出版社,2007,139-163.
[124]Samuel R. Buss.IK Survey:Introduction to Inverse Kinematics with Jacobian Transpose, Pseudoinverse and Damped Least Squares Methods[EB/OL]. http://math.ucsd.edu/-sbuss/ResearchWeb/ikmethods/index.html,2004.
[125]Alan Watt, Fabio Policarpo.沈一帆等译.3D游戏—卷1：实时渲染与软件技术[M].北京：机械工业出版社,2005.
[126]Featherstone R.:Rigid Body Dynamics Algorithms[M].Springer,2007.
[127]Jan Bender. Impulse-Based Dynamic Simulation in Linear Time[J]. Computer-Animation and Virtual World,2007,18(4,5):225-233.
[128]Rachel Weinstein, Eran Guendelman, Ron Fedkiw. Impulse Based Control of Joints and Muscles[J].IEEE Transactions on Visualization and Computer Graphics, 2008,14(1):37-46.
[129]Evan Drumwright. A Fast and Stable Penalty Method for Rigid Body Simulation[J].IEEE Transactions on Visualization and Computer Graphics,2008,14(1): 231-240.
[130]Adrian Boeing, Thomas Braunl.Evaluation of Real-Time Physics Simulation Systems[C].In Proceedings of the 5th International Conference on Computer Graphics and Interactive Techniques in Australia and Southeast Asia, Perth, Australia,2007: 281-288.
[131]NVIDIA. Nvidia physx[EB/OL].http://www.nvidia.com/,2008-10-01.
[132]Taku Komural,Yoshihisa Shinagawa,Tosiyasu L.Kunii.Creating and Retargeting Motion by the Musculoskeletal Human Body Model[J].The Visual Computer,2000,16(5):254-270.
[133]Darryl G. Thelen, Frank C.Anderson, Scott L. Delp.Generating Dynamic Simulations of Movement Using Computed Muscle Control[J].Journal of Biomechanics,2003,(36):321-328.
[134]Winter D. A.Biomechanics and Motor Control of Human Movement[M]. Wiley,2004.
[135]Sung Hee Lee. Biomechanical Modeling and Control of the Human Body for Computer Animation[D].California:University Of California,2008.
[136]F. E. Zajac. Muscle and Tendon:Properties, Models, Scaling, and Application to Biomechanics and Motor Control[J].Critical Reviews in Biomedical Engineering,1989,17(4):359-411.
[137]Woodson W. E.,Tillman B.,Tillman P. Human Factors Design Handbook[M].McGraw-Hill,1992.
[138]Miomir Vukobratovic, Branislav Borovac. Zero-Moment Point-Thirty Five Years of Its Life[J].International Journal of Humanoid Robotics,2004,1(1):157-173.
[139]Daniel B Lockhart, Lena H Ting. Optimal Sensorimotor Transformations for Balance[J].Nature Neuroscience,2007,(10):1329-1336.
[140]Schmidt R. A Schema Theory Of Discrete Motor Skill Learning[J]. Psychological Review,1975,(83):225-260.
[141]Zeltzer D. Motor Control Techniques For Figure Animation[J].IEEE Computer Graphics and Applications,1982,2(9):53-59.
[142]Kopp S.,Wachsmuth I.Model-based Animation of Coverbal Gesture[C].In Proceeding of Computer Animation,2002:252-260.
[143]Gibet S.,Kamp J.-F.,Poirier F.Gesture Analysis:Invariant Laws in Movement[C].In Gesture-Based Communication in Human-Computer Interaction,5th International Gesture Workshop, GW 2003,LNAI 2915,2004:1-9.
[144]Ahmet Erdemir, Scott McLean, Walter Herzog et al.Model-Based Estimation of Muscle Forces Exerted During Movements[J].Clinical Biomechanics, 2007,(22):131-154.
[145]Mole T. Boulic,R:Thalmann. Human Motion Capture Driven by Orientation Measurements[M].Premence,MIT,1999:187-203.
[146]黄波士,陈福民.人体运动捕捉及运动控制的研究[J].计算机工程与应用,2005(7)：60-63.
[147]耿卫东,陈为.计算机游戏程序设计[M].北京：电子工业出版社,2005.
[148]Chris Bregler. Motion Capture Technology for Entertainment[J].IEEE Signal Processing Magazine,2007,24(6):156-157,160.
[149]Carnegie Mellon University, mocap 动作捕捉数据库[EB/OL]. http://mocap.cs.cmu.edu,2008-10-01
[150]D.E. Whitney. Resolved Motion Rate Control of Manipulators and Human Prostheses[J].IEEE Transactions on Man-Machine Systems,1969,10(2):47-53.
[151]C.Klein, C.Huang. Review of Pseudoinverse Control for Use with Kinematically Redundant Manipulators[J].IEEE Transactions on Systems, Man and Cybernet,1983,13(3):245-250.
[152]Macro Spoerl.The Jacobian Transpose Method for Inverse Kinematics[C]. Game Programming Gems 4, Andrew Kirmse(eds), Charles River Media press，2004: 193-204.
[153]C.Welman. Inverse Kinematics and Geometric Constraints for Articulated Figure Manipulation[D].Simon Fraser University,1993.
[154]J. Zhao, N. I. Badler. Inverse Kinematics Positioning Using Nonlinear Programming for Highly Articulated Figures[J].ACM Transactions on Graphics,1994, 13(4):313-336.
[155]N. Badler, K. Manoochehri,G. Walters. Articulated Figure Positioning by Multiple Constraints[J].IEEE Computer Graphics and Applications,1987,7(6):28-38.
[156]Karim Abdel-Malek, Jingzhou Yang. Optimization-Based Inverse Kinematics of Articulated Linkages[C].Handbook of Digital Human Modeling, Taylor and Francis/CRC Press,2008.
[157]D Tolani, A Goswami, N Badler. Real-Time Inverse Kinematics Techniques for Anthropomorphic Limbs[J].Graphical Models,2000,62(5):353-388.
[158]Xiaomao Wu,Lizhuang Ma,Zhihua Chen,Yan Gao.A 12-DOF Analytic Inverse Kinematics Solver for Human Motion Control[J].Journal of Information & Computational Science,2004,1(1):137-141.
[159]Marcelo Kallmann. Analytical Inverse Kinematics with Body Posture Control[J].Computer Animation and Virtual Worlds,2007,19(2):79-91.
[160]Yahya Aydin,Masayuki Nakajima. Database Guided Computer Animation of Human Grasping Using Forward and Inverse Kinematics[J].Computers & Graphics, 1999,23(1):145-154.
[161]Marcelo Kallmann, Amaury Aubel, Tolga Abaci.Planning Collision-Free Reaching Motions for Interactive Object Manipulation and Grasping[C].In Proceedings of Eurographics,2003:313-322.
[162]Marcelo Kallmann. Scalable Solutions for Interactive Virtual Humans that can Manipulate Objects[C].In Proceedings of the Artificial Intelligence and Interactive Digital Entertainment (AIIDE), Marina del Rey,2005:69-74.
[163]Katsu Yamane, James J. Kuffner, Jessica K. Hodgins. Synthesizing Animations of Human Manipulation Tasks[J].ACM Transactions on Graphics,2004, 25(3):896-908.
[164]P. Baerlocher, R. Boulic. Parametrization and Range of Motion of the Ball-and-Socket Joint[C].In Proceedings of the DEFORM'2000 Workshop and AVATARS'2000 Workshop on Deformable Avatars, Lausanne,2000:180-190.
[165]Atkeson, C.,Hollerbach, J. Kinematic Features of Unrestrained Vertical Arm Movements[J].Journal of Neuroscience,1985,(9):318-330.
[166]Tolga Abaci. Object Manipulation and Grasping for Virtual Humans[D]. Swiss Federal Institute of Technology,2006.
[167]Marcelo Kallmann. STIK:Swing-Twist Inverse Kinematics[EB/OL]. http://graphics.ucmerced.edu/software.html,2008-12-01.
[168]Cal 3d[EB/OL].http://gna.org/projects/cal3d/,2009-01-01.
[169]Raanan Fattal, Dani Lischinski.Pose Controlled Physically-Based Motion[J]. Computer Graphics Forum,2006,25(4):777-787.
[170]Allen B.,Chu D.,Shapiro A et al.On the Beat!:Timing and Tension for Dynamic Characters[C].In Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation,2007:239-247.
[171]Katsu Yamane, Yoshihiko Nakamura. Natural Motion Animation through Constraining and Deconstraining at Will[J].IEEE Transactions on Visualization and Computer Graphics,2003,9(3):352-360.
[172]Paolo Baerlocher, Ronan Boulic.An Inverse Kinematics Architecture Enforcing an Arbitrary Number of Strict Priority Levels[J].The Visual Computer,2004, 20(6):402-417.
[173]Paolo Baerlocher. Inverse Kinematics Techniques for the Interactive Posture Control of Articulated Figures[D].Ecoles Polytechniques federale de Lausanne, Swiss Federal Institute of Technology,2001.
[174]Ronan Boulic 1,Benoit Le Callennec, Martin Herren et al. Experimenting Prioritized IK for Motion Editing[C].In Proceeding of EUROGRAPHICS,2003.
[175]Ronan Boulic, Benoit Le Callennec, Martin Herren et al.Motion Editing with Prioritized Constraints, In Proceeding of the 1st International Workshop on Interactive Rich Media Content Production-Architectures, Technologies, Lausanne, Switzerland,2003:139-147.
[176]Ronan Boulic, Javier Varona, Luis Unzueta et al. Real-Time IK Body Movement Recovery-from Partial;Vision Input[C].In Proceeding of the 2nd International Conference on Enactive Interfaces, Genoa, Italy,2005.
[177]Manuel Peinado, Bruno Herbelin, Marcelo Wanderley et al.Towards Configurable Motion Capture with Prioritized Inverse Kinematics[C].In Proceeding of the 3rd International Workshop on Virtual Rehabilitation, Lausanne, Switzerland,2004.
[178]Ronan Boulic, Manuel Peinado, Benoit Le Callennec. Challenges in Exploiting Prioritized Inverse Kinematics for Motion Capture and Postural Control[C]. Gesture in Human-Computer Interaction and Simulation, Berder Island, France,2006, LNCS 3881,2006:176-187.
[179]Benoit Le Callennec, Ronan Boulic. Interactive Motion Deformation with Prioritized Constraints[J].Graphical Models,2006,68(2):175-193.
[180]Benoit Le Callennec. Interactive Techniques for Motion Deformation of Articulated Figures Using Prioritized Constraints[D].Ecoles Polytechniques federale de Lausanne, Swiss Federal Institute of Technology,2006.
[181]Schubert R. Carvalho, Ronan Boulic, Daniel Thalmann. Interactive Low-Dimensional Human Motion Synthesis by Combining Motion Models and PIK[J]. Computer Animation and Virtual Worlds,2007,18(4,5):493-503.
[182]Daniel Raunhardt, Ronan Boulic. Motion Constraint[J].The Visual Computer,2009,25(5-7):509-518.
[183]Keith Grochow, Steven L. Martin, Aaron Hertzmann et al. Style-Based Inverse Kinematics[J].ACM Transactions on Graphics,2004,23(3):522-531.
[184]Xiaomao Wu, Lionel Reveret, Maxime Tournier. Interactive Character Posing from Large Motion Database[C].ACM SIGGRAPH/Eurographics Symposium on Computer Animation Poster Proceedings,2008:1-2.
[185]Matsunaga, M.,Zordan, V.B.A Dynamics-based Comparison Metric for Motion Graphs[C].In Computer Graphics International (CGI),2007.
[186]Jing-Wang, Bobby Bodenheimer. Synthesis and Evaluation of Linear Motion Transitions [J].ACM Transactions on Graphics,2008,27(1):1-15.
[187]Van Basten B.J.,Egges A. Evaluating Distance Metrics for Animation Blending[C].In Proceedings of the 4th International Conference on the Foundation of Digital Games,2009:199-206.
[188]Anthony A. Maciejewski, Charles A. Klein. Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments[J].the International Journal of Robotics Research,1985,4(3):109-117.
[189]E. Kokkevis.Practical Physics for Articulated Characters[R].Game Developers Conference,2004.
[190]Hyun Joon Shin, Jehee Lee, Sung Yong Shin. Computer Puppetry:An Importance-Based Approach[J].ACM Transactions on Graphics,2001,20(2):67-94.
[191]R. Kulpal,F.Multon, B.Arnaldi.Morphology-Independent Representation of Motions for Interactive Human-Like Animation[J].Computer Graphics Forum, Eurographics 2005 special issue,2005,24(3):343-351.
[192]R. Kulpa, F.Multon. Fast Inverse Kinematics and Kinetics Solver for Human-Like Figures[J].IEEE Humanoid Robots,2005,(12):38-43.
[193]Manfred Lau, James J. Kuffner. Behavior Planning for Character Animation[C].In Proceedings of the 2005 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, Los Angeles, California,2005:271-280.
[194]Bill Chiu, Victor Zordan, Chun-Chih Wu. State Annotated Motion Graph[C]. In Proceedings of the 2007 ACM Symposium on Virtual Reality Software and Technology, Newport Beach, California,2007:73-76.
[195]Jehee Lee, Kang Hoon Lee.Precomputing Avatar Behavior from Human Motion Data[J].Graphical Models,2006,68(2):158-174.
[196]Manfred Lau, James J. Kuffner. Precomputed Search Trees:Planning for Interactive Goal-Driven Animation[C].In Proceedings of the 2006 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, Vienna, Austria,2006: 299-308.
[197]Sang Il Park, Hyun Joon Shin, Tae Hoon Kim. On-Line Motion Blending for Real-Time Locomotion Generation[J].Computer Animation and Virtual Worlds,2004, 15(3,4):125-138.
[198]Alla Safonova, Jessica K. Hodgins.Construction and Optimal Search of Interpolated Motion Graphs[J].ACM Transactions on Graphics,2007,26(3),Article No. 106:1-11.
[199]Jen-Yu Peng, I-Chen Lin, Jui-Hsiang Chao. Interactive and Flexible Motion Transition[J].Computer Animation and Virtual Worlds,2007,18(4,5):549-558.
[200]Adrien Treuille, Yongjoon Lee, Zoran Popovic. Near-Optimal Character Animation with Continuous Control[J].ACM Transactions on Graphics,2007,26(3), Article No.7:1-7.
[201]Seth Cooper, Aaron Hertzmann, Zoran Popovic. Active Learning for Real-Time Motion Controllers[J].ACM Transactions on Graphics,2007,26(3),Article No.5:1-7.
[202]James McCann, Nancy Pollard. Responsive Characters from Motion Fragments[J].ACM Transactions on Graphics,2007,26(3),Article No.6:1-7.
[203]Okan Arikan, David A. Forsyth, James F.O'Brien. Pushing People Around[C].In Eurographics/SIGGRAPH Symposium on Computer Animation,2005: 59-66.
[204]KangKang Yin, Dinesh K. Pai, Michiel van de Panne. Data-Driven Interactive Balancing Behaviors[C].In Pacific Graphics,2005:118-121.
[205]Taku Komura, Edmond S.L.Ho, Rynson W. H. Lau. Animating Reactive Motion Using Momentum-Based Inverse Kinematics[J].Journal of Visualization and Computer Animation,2005,16(1):213-223.
[206]Zoran Popovic, Andrew Witkin. Physically Based Motion Transformation[C].In Proceedings of the 26th Annual Conference on Computer Graphics and Interactive Techniques,1999:11-20.
[207]Anthony C.Fang, Nancy S.Pollard. Efficient Synthesis of Physically Valid Human Motion[J].ACM Transactions on Graphics,2003,22(3):417-426.
[208]Adnan Sulejmanpasic, Jovan Popovic. Adaptation of Performed Ballistic Motion[J].ACM Transactions on Graphics,2005,24(1):165-179.
[209]Yeuhi Abe, C.Karen Liu, Zoran Popovic. Momentum-based Parameterization of Dynamic Character Motion[J].Graphical Models,2006,68(2): 194-211.
[210]Alla Safonova, Jessica K. Hodgins, Nancy S.Pollard. Synthesizing Physically Realistic Human Motion in Low-Dimensional, Behavior-Specific Spaces[J]. ACM Transactions on Graphics,2004,23(3):514-521.
[211]C.Karen Liu, Aaron Hertzmann, Zoran Popovic.Learning Physics-Based Motion Style with Nonlinear Inverse Optimization[J].ACM Transactions on Graphics 2005,24(3):1071-1081.
[212]Jinxiang Chai,Jessica K. Hodgins.Constraint-based Motion Optimization Using A Statistical Dynamic Model[J].ACM Transactions on Graphics,2007,26(3), Article No.8:1-9.
[213]Sumit Jain, Yuting Ye, C. Karen Liu. Optimization-based Interactive Motion Synthesis[J].ACM Transaction on Graphics,2009,28(1),Article No.10:1-12.
[214]Hyun Joon Shin, Lucas Kovar, Michael Gleicher. Physical Touch-up of Human Motions[C].In Proceedings of Pacific Graphics,2003:194-203.
[215]Seyoon Tak, Oh-young Song, Hyeong-Seok Ko. Spacetime Sweeping:An Interactive Dynamic Constraints Solver[C].In Proceedings of the Computer Animation, 2002:261-270.
[216]Seyoon Tak, Oh-young Song, Hyeong-Seok Ko. Motion Balance Filtering[J]. Computer Graphics Forum,2000,19(3):437-446.
[217]Katsu Yamane, Yoshihiko Nakamura. Dynamics Filter-Concept and Implementation of Online Motion Generator for Human Figures[J].IEEE Transactions on Robotics and Automation,2003,19(3):421-432.
[218]Nancy S.Pollard, Paul S.A. Reitsma. Animation of Humanlike Characters: Dynamic Motion Filtering with a Physically Plausible Contact Model[C].In Yale Workshop on-Adaptive and Learning Systems,2001.
[219]Seyoon Tak, Hyeong-Seok Ko. A Physically-Based Motion Retargeting Filter[J].ACM Transactions on Graphics,2005,24(1):98-117.
[220]Oshita M.,Makinouchi A. A Dynamic Motion Control Technique for Human-Like Articulated Figures[J].Computer Graphics Forum,2001,20(3):192-203.
[221]Victor B.Zordan, Jessica K, Hodgins:Tracking and Modifying Upper-body Human Motion Data with Dynamic Simulation[C].In Proceedings of Computer Animation and Simulation 99,1999:13-22.
[222]Victor B.Zordan. Motion Capture-Driven Simulations that Hit and React[D]. College of Computing, Georgia Institute of Technology,2002.
[223]Pawel Wrotek, Odest Chadwicke Jenkins, Morgan McGuire. Dynamo: Dynamic Data-Driven Character Control with Adjustable Balance[C].In Proceedings of the ACM SIGGRAPH Video Games Symposium,2006:61-70.
[224]KangKang Yin, Michael B.Cline, Dinesh K. Pai. Motion Perturbation Based on Simple Neuromotor Control Models[C].In Proceedings of the 11th Pacific Conference on Computer Graphics and Applications,2003:445-449.
[225]Yeuhi Abe, Jovan Popovic. Interactive Animation of Dynamic Manipulation[C].In Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation,2006:195-204.
[226]Yeuhi Abe, Marco da Silva, Jovan Popovic. Multiobjective Control with Frictional Contacts[C].In Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation,2007:249-258.
[227]Adriano Macchietto, Victor Zordan,Christian R. Shelton. Momentum Control for Balance[C].In Proceedings of the ACM SIGGRAPH/Eurographics symposium on Computer Animation,2009:249-258.
[228]KangKang Yin, Kevin Loken, Michiel van de Panne. Simbicon:Simple Biped Locomotion Control[J].ACM Transactions on Graphics,2007,26(3),Article No. 105:1-10.
[229]Kwang Won Sok, Manmyung Kim, Jehee Lee. Simulating Biped Behaviors From Human Motion Data[J].ACM Transactions on Graphics 2007,26(3),Article No. 107:1-9.
[230]Michael Mandel.Versatile and Interactive Virtual Humans:Hybrid Use of Data-Driven and Dynamics-Based Motion Synthesis[D].Carnegie Mellon University, 2004.
[231]Victor B.Zordan, Anna Majkowska, Bill Chiu, Matthew Fast. Dynamic Response for Motion Capture Animation[C].In Proceedings of ACM SIGGRAPH, 2005:697-701.
[232]Ari Shapiro, Fred Pighin. Hybrid Control for Interactive Character Animation[C].In Proceedings of the 11th Pacific Conference on Computer Graphics and Applications,2003:456-461.
[233]Ronald Metoyer, Victor Zordan, Benjamin Hermens et al.Psychologically Inspired Anticipation and Dynamic Response for Impacts to the Head and Upper Body[J].IEEE Transactions on Visualization and Computer Graphics,2008,14(1): 173-185.
[234]Marco da Silva, Yeuhi Abe, Jovan Popovic. Simulation of Human Motion Data Using Short-Horizon Model-Predictive Control[J].Computer Graphics Forum, 2008,27(2):371-380.
[235]Marco da Silva, Yeuhi Abe, Jovan Popovic. Interactive Simulation of Stylized Human Locomotion[J].ACM Transactions on Graphics,2008,27(3), Article No.82:1-10.
[236]Kudoh, S.,Komura, T.,Ikeuchi, K. Stepping Motion for a Humanlike Character to Maintain Balance Against Large Perturbations[C].In Proceedings of the IEEE International Conference in Robotics and Automation,2006:2661-2666.
[237]Yuting Ye, C.Karen Liu. Animating Responsive Characters with Dynamic Constraints in Near-Unactuated Coordinates[J].ACM Transactions on Graphics,2008, 27(5),Article No.112:1-5.
[238]Bruno Siciliano, Jean-Jacques E. Slotine. A General Framework for Managing Multiple Tasks in Highly Redundant Robotic Systems[C].In Proceedings of International Conference on Advanced Robotics,1991:1211-1216.
[239]Luis Sentis, Oussama Khatib.Synthesis of Whole-Body Behaviors Through Hierarchical Control of Behavioral Primitives[J].International Journal of Humanoid Robotics,2005,2(4):505-518.
[240]Luis Sentis,Oussama Khatib.A Whole-Body Control Framework for Humanoids Operating in Human Environments[C].In Proceedings of the IEEE International Conference in Robotics and Automation,2006:2641-2648.
[241]Luis Sentis.Synthesis and Control of Whole-Body Behaviors in Humanoid Systems[D].Stanford University,2007.
[242]Jun Nakanishi, Rick Cory, Michael Mistry, Jan Peters, Stefan Schaal. Operational Space Control:A Theoretical and Empirical Comparison[J].The International Journal of Robotics Research,2008,27(6):737-757.
[243]Ronan Boulic, Ramon Mas,Daniel Thalmann. A Robust Approach for the Center of Mass Position Control with Inverse Kinetics[J].Journal of Computers and Graphics,1996,20(5):693-701.
[244]Jun Nakanishi, Michael Mistry,Stefan Schaal. Inverse Dynamics Control with Floating Base and Constraints[C].In Proceedings of the IEEE International Conference on Robotics and Automation,2007:10-14.
[245]Ari Shapiro, Petros Faloutsos. Dynamic Animation and Control Environment[C].In Proceeding of Graphics Interface2005,Victoria, British Columbia, Canada,20.05:61-70.
[246]A.Shapiro, D.Chu, B.Allen, P.Faloutsos. A Dynamic Controller Toolkit[C]. The 2nd Annual ACM SIGGRAPH Sandbox Symposium on Videogames, San Diego, CA,2007.
[247]Russell Smith. Open Dynamics Engine[EB/OL].http://www.ode.org, 2008-10-01.
[248]Philip E. Gill, Walter Murray, Michael A. Saunders.SNOPT:An SQP Algorithm for Large-Scale Constrained Optimization[J].Society for Industrial and Applied Mathematics,2005,47(1):99-131.
[249]叶洪涛.Poser基础教程[M].北京：清华大学出版社,2005.
[250]王乘,李利军,周均清.Vega实时三维视景仿真技术[M].武汉：华中科技大学出版社,2005.
[251]王乘,周均清,李利军.Creator可视化仿真建模技术[M].武汉：华中科技大学出版社,2005.
[252]李向阳,黄先祥,龙勇等.基于HLA的地地导弹操作训练仿真系统设计[J].系统仿真学报,2008,20(21)：5821-5824.
[253]张玉祥,沙寒.导弹动力系统操作训练虚拟仿真器的设计[J].弹箭与制导学报,2008,28(3)：290-292.
[254]马立元.大型复杂装备虚拟操作训练系统设计方法研究[D].南京：南京理工大学,2006.
[255]P.S.A. Reitsma, N. S.Pollard. Perceptual Metrics for Character Animation:Sensitivity to Errors in Ballistic Motion[J].ACM Transactions on Graphics, 2003,22(3):537-542.
[256]Safonova, A.,Hodgins, J. K. Analyzing the Physical Correctness of Interpolated Human Motion[C].In Proceedings of the ACM/Eurographics SIGGRAPH Symposium on Computer Animation,2005:171-180.
[257]Liu Ren, Alton Patrick, Alexei A. Efros. A Data-Driven Approach to Quantifying Natural Human Motion[J].ACM Transactions on Graphics,2005,24(3): 1090-1097.
[258]Ikemoto L.,Arikan O.,Forsyth D. Quick Transitions with Cached Multi-Way Blends[C].In Proceedings of the 2007 Symposium on Interactive 3D Graphics and Games,2007:145-151.
[2]王兆其.虚拟人合成研究综述[J].中国科学院研究生院学报,2000,17(2)：89-95.
[3]徐孟,孙守迁,潘云鹤.虚拟人运动控制技术的研究[J].系统仿真学报,2003,15(3)：338-342.
[4]罗冠,郝重阳,张雯等.虚拟人技术研究综述[J].计算机工程,2005,31(18)：7-9.
[5]Nadia Magnenat-Thalmann, Daniel Thalmann. Virtual Humans:Thirty Years of Research, What Next?[J].The Visual Computer,2005,21(12):997-1015.
[6]Petros Faloutsos. Composable Controllers for Physics-Based Character Animation[D].University Of Toronto,2002.
[7]Linbo Luo, Suiping Zhou, Wentong Cai et al.Agent-based Human Behavior Modeling for Crowd Simulation[J].Computer Animation and Virtual World,2008, 19(3,4):271-281.
[8]Andrew Park, Tom Calvert. A Social Agent Pedestrian Model[J].Computer Animation and Virtual World,2008,19(3,4):331-340.
[9]Wei Shao, Demetri Terzopoulos. Autonomous Pedestrians[J].Graphical Models,2007,69(5,6):246-274.
[10]Michael McGuigan. Graphics Turing Test[Z].arXiv:cs/0603132v1[cs.GR], 2006.
[11]唐冰：反应跟随性人体动画生成研究[D].杭州：淅江大学,2006.
[12]Norman I. Badler, Cary B.Phillips, Bonnie L. Webber. Simulating Humans: Computer Graphics Animation and Control [M].London:Oxford University Press, 1999.
[13]王鑫,孙守迁,柴春雷.三维人体运动编辑与合成技术综述[J].中国图象图形学报,2009,14(2)：233-242.
[14]R. Boulic, B.Ulciny, D.Thalmann. Versatile Walk Engine[J].Journal of Game Development,2004,1(1):29-50.
[15]Harold C.Sun, Dimitris N. Metaxas. Automating Gait Generation[C].In Proceedings of the 28th Annual Conference on Computer Graphics and Interactive Techniques, SIGGRAPH 2001,Los Angeles, California,2001:261-270.
[16]Michael Mandel.Moving Beyond Ragdolls:Generating Versatile Human Behaviors by Combining Motion Capture and Controlled Physical Simulation[R].In Proceedings of Game Developers Conference,2005.
[17]Jessica K. Hodgins, Wayne L.Wooten, David C.Brogan et al.Animating Human Athletics[C].In Proceedings of the 22nd Annual Conference on Computer Graphics and Interactive Techniques,1995:71-78.
[18]W. Wooten, J. Hodgins.Animation of Human Diving[J].Computer Graphics Forum,1996,15(1):3-13.
[19]W. Wooten, J. Hodgins.Simulating Leaping, Tumbling, Landing and Balancing Humans[C].In Proceedings of IEEE International Conference on Robotics and Automation,2000:656-662.
[20]Neff, M.,Fiume, E. Modeling Tension and Relaxation for Computer Animation[C].In Proceedings of the 2002 ACM SIGGRAPH/Eurographics Symposium on Computer Animation,2002:81-88.
[21]J. K. Hodgins, N. S.Pollard. Adapting Simulated Behaviors for New Characters[C].In Proceedings of the 24th Annual Conference on Computer Graphics and Interactive Techniques,1997:153-162.
[22]KangKang Yin, Stelian Coros, Philippe Beaudoin et al.Continuation Methods for Adapting Simulated Skills[J].ACM Transactions on Graphics,2008,27(3),Article No.81:1-7.
[23]Frank C.Anderson, Marcus G. Pandy. A Dynamic Optimization Solution for Vertical Jumping in Three Dimensions[J].Computer Methods in Biomechanics and Biomedical Engineering,1999,2(3):201-231.
[24]Joo Hyun Kim. Dynamics and Motion Planning of Redundant Manipulators Using Optimization, with Applications to Human Motion[D].Mechanical Engineering in the Graduate College of the University of Iowa,2006.
[25]朱永峰,费广正,黄赞榛等.运动捕捉数据重用方法的研究[J].中国传媒大学学报(自然科学版),2007,14(4)：46-54.
[26]Daniel Thalmann. Motion-Modeling:Can We Get Rid of Motion Capture?[C]. In Workshop of Motion in Games (2008), LNCS 5277,2008:121-131.
[27]Weidong Geng, Gino Yu. Reuse of Motion Capture Data in Animation:A Review[C].In Proceeding of International Conference on Computational Science and Its Applications 2003,LNCS 2669,2003:620-629.
[28]Witkin A, Popovid Z. Motion Warping[C].In Proceedings of the 22nd Annual Conference on Computer Graphics and Interactive Techniques,1995:105-108.
[29]Umuma M,Anjyo K,Takeuchi R. Fourier Principles for Emotion-Based Human Figure Animation[C].In Proceedings of the 22nd Annual International Conference on Computer Graphics and Interactive Techniques,1995:91-96.
[30]Andrew Witkin, Michael Kass. Spacetime constraints [C].In Proceedings of the 15th Annual Conference on Computer Graphics and Interactive Techniques,1988: 159-168.
[31]Michael Gleicher. Motion Editing with Spacetime Constraints[C].In Proceedings of Interactive 3D Graphics,1997:139-148.
[32]Jehee Lee, Sung Yong Shin. A Hierarchical Approach to Interactive Motion Editing for Human-Like Figures[C].In Proceedings of the 26th Annual Conference on Computer Graphics and Interactive Techniques, SIGGRAPH 99,1999:39-48.
[33]Michael Gleicher. Comparing Constraint-Based Motion Editing Methods[J]. Graphic Models,2001,63(2):107-134.
[34]Kovar, L.,Gleicher, M, Pighin F.Motion Graphs[J].ACM Transactions on Graphics,2002,21(3):473-482.
[35]Jehee Lee, Jinxiang Chai, Paul S.A. Reitsma et al.Interactive Control Of Avatars Animated With Human Motion Data[J].ACM Transactions on Graphics,2002, 21(3):491-500.
[36]Arikan,O.,Forsyth, D.A. Interactive Motion Generation from Examples[J]. ACM Transactions on Graphics,2002,21(3):483-490.
[37]Gleicher, M.,Shin, H.,Kovar, L.,Jepsen, A. Snap-Together Motion: Assembling Run-Time Animation[C].In ACM SIGGRAPH/Eurographics Symposium on Interactive 3D Graphics,2003:181-188.
[38]Hyun Joon Shin, Hyun Seok Oh. Fat graphs:Constructing an Interactive Character with Continuous Controls[C].In ACM SIGGRAPH/Eurographics Symposium on Computer Animation,2006:291-298.
[39]Charles Rose, Michael Cohen, Bobby Bodenheimer. Verbs and Adverbs: Multidimensional Motion Interpolation[J].IEEE Computer Graphics and Applications, 1998,18(5):32-40.
[40]Charles F.Rose III, Peter-Pike J. Sloan,Michael F.Cohen. Artist-Directed Inverse-Kinematics Using Radial Basis Function Interpolation[J].Computer Graphics Forum,2001,20(3):239-250.
[41]Lucas Kovar, Michael Gleicher. Automated Extraction and Parameterization of Motions in Large Data Sets[J].ACM Transactions on Graphics,2004,23(3): 559-568.
[42]Amr Adel Hassan Ahmed. Parametric Synthesis of Human Animation[D]. Surrey:University of Surrey,2004.
[43]Tomohiko Mukai, Shigeru Kuriyama. Geostatistical Motion Interpolation[J]. ACM Transactions on Graphics,2005,24(3):1062-1070.
[44]Heck, Rachel, Michael Gleicher. Parametric Motion Graph[C].In Proceedings of Symposium on Interactive 3D Graphics and Games,2007:129-136.
[45]Liming Zhao, Alla Safonova. Achieving Good Connectivity in Motion Graphs[J].Graphical Models,2009,71(4):139-152.
[46]Leslie Ikemoto, David A. Forsyth. Enriching a Motion Collection by Transplanting Limbs[C].In Proceedings of the 2004 ACM SIGGRAPH/Eurographics Symposium on Computer Animation,2004:99-108.
[47]Heck, R.,Kovar, L.,Gleicher, M. Splicing Upper-Body Actions with Locomotion[J].Computer Graphic Forum,2006,25(3):459-466.
[48]A. Majkowska, V. B.Zordan, P. Faloutsos. Automatic Splicing for Hand and Body Animations[C].In Proceedings of the 2006 ACM SIGGRAPH/Eurographics Symposium on Computer Animation,2006:309-316.
[49]Won-Seob Jang, Won-Kyu Lee, In-Kwon Lee. Enriching a Motion Database by Analogous Combination of Partial Human Motions[J].The Visual Computer,2008, 24(4):271-280.
[50]Dongwook Ha, JungHyun Han. Motion Synthesis with Decoupled Parameterization[J].The Visual Computer,2008,24(7):587-594.
[51]Pascal Glardon, Ronan Boulic, Daniel Thalmann. PCA-based Walking Engine using Motion Capture Data[C].In Proceedings of the Computer Graphics International, 2004:292-298.
[52]Matthew B,Aaron H. Style Machines[C].In Proceedings of the 27th Annual Conference on Computer Graphics and Interactive Techniques, New Orleans, Louisiana, USA,2000:193-192.
[53]Tanco L M, Hilton A. Realistic Synthesis of Novel Human Movements from a Database of Motion Capture Examples[C].In Proceeding of IEEE Workshop on Human Motion 2000,Austin,Texas,USA,2000:1137-142.
[54]Yan Li,Tianshu Wang, Heung-Yeung Shum.Motion Texture:a Two-Level Statistical Model for Character Motion Synthesis[J].ACM Transactions on Graphics, 2002,21(3):465-472.
[55]Vladimir Pavlovic, James M. Rehg, John MacCormick. Learning Switching Linear Models of Human Motion[C].In Advances in Neural Information Processing Systems 13,2001:981-987.
[56]Jack M. Wang, David J. Fleet, Senior Member et al.Gaussian Process Dynamical Models for Human Motion[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,2008,30(2):283-298.
[57]Hyun Joon Shin, Jehee Lee. Motion Synthesis and Editing in Low-Dimensional Spaces[J].Computer Animation and Virtual World,2006,17(3,4): 219-227.
[58]Faraway J, Reed. M. Statistics for Digital Human Modeling in Ergonomics[J]. Technometrics,2007, (49):262-276.
[59]Raquel Urtasun, Pascal Glardon, Ronan Boulic et al. Style-based Motion Synthesis[J].Computer Graphics Forum,2004,23(4):1-14.
[60]Takuya Terasaki, Masaki Oshita. Motion Style Transformation by Extracting and Applying Motion Features[C].In Proceeding of International Conference on Computer Animation and Social Agents,2006:243-252.
[61]Herwin van Welbergen, Zsofia Ruttkay, Balazs Varga. Informed Use of Motion Synthesis Methods[C].In Workshop of Motion in Games (2008), LNCS 5277, 2008:132-143.
[62]罗冠.虚拟人的运动生成及控制技术研究[D].西安：西北工业大学,2003.
[63]Edward M. Sims. Reusable, Lifelike Virtual Humans for Mentoring and Role-Playing[J].Computers & Education,2007, (49):75-92.
[64]朱彦军,姜国华.虚拟现实中虚拟人体模型概述[J].计算机仿真,2004,21(1)：11-13.
[65]王宏伟,周前详.虚拟人体系统建模应用综述[C].2007中国控制与决策学术年会论文集,2007：345-347.
[66]王兆其,高文.基于虚拟人合成技术的中国手语合成方法[J].软件学报,2002,13(10)：2051-2056.
[67]孙守迁,王鑫,刁在箴等.艺术体操动作辅助编排系统[J].计算机辅助设计与图形学学报,2008,20(2)：201-206.
[68]徐孟.面向人机工程仿真分析的人体生物力学模型[D].杭州：浙江大学,2006：70-79.
[69]Boston Dynamic.DigitalBiomechanics[EB/OL].http://www.diguy.com, 2008-10-01.
[70]Motion Natural.Endorphin 2.7[EB/OL].http://www.naturalmotion.com, 2009-01-01.
[71]William Swartout, Jonathan Gratch, Randall Hill.Toward Virtual Humans[J]. AI magazine,2006,27(2):96-108.
[72]Karim Abdel-Malek,Jingzhou Yang,Joo H. Kim. Development of the Virtual-Human Santos[C].In Proceeding of the 12th International Conference on Human-Computer Interaction (HCI International 2007), LNCS 4561,2007:490-499.
[73]刘莉,王兆其,朱登明等.基于约束轨迹重构的运动编辑[J].计算机辅助设计与图形学学报,2006,18(10)：1613-1617.
[74]王瑢瑢.基于运动库的三维角色动画生成方法研究与实现[D].北京：中国科学院研究生院,2006.
[75]Dengming Zhu,Zhaoqi Wang,Shihong Xia. Motion Editing with the State Feedback Dynamic Model[C].In Computer Graphics International(CGI) 2006, LNCS 4035,2006:348-359.
[76]魏毅,夏时洪,王兆其.基于物理的人体空中运动仿真[J].软件学报,2008,19(12)：3228-3236.
[77]邱显杰,王兆其,夏时洪等.一种用于体育运动仿真分析的“虚实”对比方法 [J].计算机研究与发展,2005,42(8)：1324-1330.
[78]Shihong Xia, Xianjie Qiu, Zhaoqi Wang. A Novel Framework for Athlete Training Based on Interactive Motion Editing and Silhouette Analysis[C].In Proceedings of the ACM Symposium on Virtual Reality Software and Technology, Monterey, California, USA,2005:56-58.
[79]陈志华.基于运动捕获数据的人体运动编辑技术研究[D].上海：上海交通大学,2006.
[80]高岩.基于内容的运动检索与运动合成[D].上海：上海交通大学,2006.
[81]吴小毛.数据驱动的真实感人体动画技术研究[D].上海：上海交通大学,2007.
[82]罗忠祥,庄越挺,刘丰,潘云鹤.基于时空约束的运动编辑和运动重定向[J].计算机辅助设计与图形学学报,2002,14(12)：1146-151.
[83]郑乐.基于运动捕获数据的若干应用技术研究[D].杭州：淅江大学,2006.
[84]Gengdai Liu, Zhigeng Pan,Zuoyan Lin. Style Subspaces for Character Animation[J].Computer Animation and Virtual World,2008,19(3,4):199-209.
[85]陈逸帆.面向人机工程仿真的虚拟人体运动控制技术[D].杭州：淅江大学,2006.
[86]潘志庚,程熙,唐冰.一种实时虚拟人反应式动画生成算法[J].计算机研究与发展,2009,46(1)：151-157.
[87]程熙,潘志庚.虚拟人运动中受扰的平衡保持算法[J].计算机辅助设计与图形学学报,2009,21(3)：325-330.
[88]Xi Cheng, Gengdai Liu, Zhigeng Pan, Bing Tang. Fragment-Based Responsive Character Motion for Interactive Games[J].The visual computer,2009, 25(5-7):479-485.
[89]Zhigeng Pan, Xi Cheng, Wenzhi Chen, Gengdai Liu, Bing Tang. Real Time Falling Animation with Active and Protective Responses[J].The visual computer,2009, 25(5-7):487-497.
[90]胡晓雁,梁晓辉,赵沁平.自动匹配虚拟人模型与运动数据[J].软件学报,2006,17(10)：2181-2191.
[91]杨跃东,王莉莉,郝爱民.运动串：一种用于行为分割的运动捕获数据表示方法[J].计算机研究与发展,2008,45(3)：527-534.
[92]杨跃东,王莉莉，郝爱民等.基于几何特征的人体运动捕获数据分割方法[J].系统仿真学报,2007,19(10)：2229-2234.
[93]刘贤梅,郝爱民.油田安全作业虚拟仿真训练系统研究[J].系统仿真学报,2006,18(11)：3082-3087.
[94]代晓清.基于运动捕获的运动重定向技术研究[D].天津：天津大学,2007.
[95]倪慧.自主虚拟人关键技术的研究[D].天津：天津大学,2007.
[96]郭丹丹.用于人机测试的虚拟人研究[D].天津：天津大学,2004.
[97]秦文虎,吴宇晖,赵正旭.虚拟角色动作编辑及运动控制[J].东南大学学报(自然科学版),2006,36(5)：720-724.
[98]秦文虎,查骏元,李晓娜等.虚似人群行为的建模和实现方法[J].江苏大学学报(自然科学版),2009,30(1)：58-61.
[99]贺怀清,洪炳熔.虚拟人实时运动控制的研究[J].计算机工程,2000,26(11)：52-55.
[100]洪炳熔,贺怀清.虚拟人步行和跑步运动的实现[J].计算机应用研究,2000(11)：15-19.
[101]贺怀清.虚拟人的建模及运动控制算法的研究[D].哈尔滨：哈尔滨工业大学,2001.
[102]高全胜,洪炳熔.一种虚拟人运动生成和控制方法[J].软件学报,2007,18(9)：2356-2364.
[103]何凯,姜昱明.基于逆运动学的虚拟人行走[J].系统仿真学报,2004,16(6)：1343-1345.
[104]何凯,姜昱明.虚拟人行走运动的研究与实现[J].计算机仿真,2005,22(2)：139-142.
[105]于洋,姜昱明.三维虚拟士兵训练仿真研究[J].计算机工程与应用,2009,45(22)：166-168.
[106]李春霞.IK问题的求解及虚拟人步行运动控制技术的研究[D].武汉：武汉理工大学,2004.
[107]任静丽,杨克俭,郑著彬.虚拟人跑步运动控制技术的研究[J].武汉理工大学学报(交通科学与工程版),2008,32(5)：967-970.
[108]阳小涛.虚拟人建模及游泳运动控制技术的研究[D].武汉：武汉理工大学,2009.
[109]吕川,徐宏强,马麟等.“混合控制”驱动虚拟人实现维修仿真[J].北京航空航天大学学报,2005,31(5)：544-547.
[110]王松山.虚拟维修仿真中人的行为表示[J].系统仿真学报,2005,17(2)：507-509.
[111]郝建平,蒋科艺,王松山等.虚拟维修仿真理论与技术[M].北京：国防工业出版社,2007,126-188.
[112]卢晓军,李焱,贺汉根.基于Petri网的虚拟人行走动作建模及其仿真实现 [J].系统仿真学报,2005,17(11)：2679-2682.
[113]Takeo Kanade, Peter Rander, P J. Narayanan. Virtualized Reality: Constructing Virtual Worlds from Real Scenes[J].IEEE Multimedia, Immersive Telepresence,1997,4(1):34-47.
[114]Edilson de Aguiar, Carsten Stoll, Christian Theobalt. Performance Capture from Sparse Multi-view Video[J].ACM Transactions on Graphics,2008,27(3),Article No.98:1-10.
[115]Gleicher M. More Motion Capture In Games-Can We Make Example-Based Approaches Scale?[C].In Workshop of Motion in Games (2008), LNCS 5277,2008: 82-93.
[116]Kahle W, Leonhardt H,Platzer W.毕玉顺,李振华等译.人体解剖学及彩色图谱[M].济南：山东科学技术出版社,2001.
[117]H. van Welbergen, B.J. H. van Basten, A. Egges et al. Real Time Animation of Virtual Humans:A Trade-off between Naturalness and Control[C].In State-of-the-Art-Report Proceedings of Eurographics, Mark Pauly and Guenther Greiner (eds), Eurographics Association, Munich, Germany,2009:45-72.
[118]John J.Craig.贠超等译.机器人学导论[M].北京：机械工业出版社,2006.
[119]霍伟.机器人动力学与控制[M].北京：高等教育出版社,2005.
[120]Shoemake K. Animating Rotation with Quaternion Curves[J].Computer Graphics,1985,19(3):245-254.
[121]F.S.Grassia. Practical Parameterization of Rotations using the Exponential Map[J].Journal of Graphics Tools,1998,3(3):29-48.
[122]郭文彬,魏木生.奇异值分解及其在广义逆理论中的应用[M].北京：科学出版社,2008.
[123]姚俊,张玉春.工程矩阵方法[M].北京：国防工业出版社,2007,139-163.
[124]Samuel R. Buss.IK Survey:Introduction to Inverse Kinematics with Jacobian Transpose, Pseudoinverse and Damped Least Squares Methods[EB/OL]. http://math.ucsd.edu/-sbuss/ResearchWeb/ikmethods/index.html,2004.
[125]Alan Watt, Fabio Policarpo.沈一帆等译.3D游戏—卷1：实时渲染与软件技术[M].北京：机械工业出版社,2005.
[126]Featherstone R.:Rigid Body Dynamics Algorithms[M].Springer,2007.
[127]Jan Bender. Impulse-Based Dynamic Simulation in Linear Time[J]. Computer-Animation and Virtual World,2007,18(4,5):225-233.
[128]Rachel Weinstein, Eran Guendelman, Ron Fedkiw. Impulse Based Control of Joints and Muscles[J].IEEE Transactions on Visualization and Computer Graphics, 2008,14(1):37-46.
[129]Evan Drumwright. A Fast and Stable Penalty Method for Rigid Body Simulation[J].IEEE Transactions on Visualization and Computer Graphics,2008,14(1): 231-240.
[130]Adrian Boeing, Thomas Braunl.Evaluation of Real-Time Physics Simulation Systems[C].In Proceedings of the 5th International Conference on Computer Graphics and Interactive Techniques in Australia and Southeast Asia, Perth, Australia,2007: 281-288.
[131]NVIDIA. Nvidia physx[EB/OL].http://www.nvidia.com/,2008-10-01.
[132]Taku Komural,Yoshihisa Shinagawa,Tosiyasu L.Kunii.Creating and Retargeting Motion by the Musculoskeletal Human Body Model[J].The Visual Computer,2000,16(5):254-270.
[133]Darryl G. Thelen, Frank C.Anderson, Scott L. Delp.Generating Dynamic Simulations of Movement Using Computed Muscle Control[J].Journal of Biomechanics,2003,(36):321-328.
[134]Winter D. A.Biomechanics and Motor Control of Human Movement[M]. Wiley,2004.
[135]Sung Hee Lee. Biomechanical Modeling and Control of the Human Body for Computer Animation[D].California:University Of California,2008.
[136]F. E. Zajac. Muscle and Tendon:Properties, Models, Scaling, and Application to Biomechanics and Motor Control[J].Critical Reviews in Biomedical Engineering,1989,17(4):359-411.
[137]Woodson W. E.,Tillman B.,Tillman P. Human Factors Design Handbook[M].McGraw-Hill,1992.
[138]Miomir Vukobratovic, Branislav Borovac. Zero-Moment Point-Thirty Five Years of Its Life[J].International Journal of Humanoid Robotics,2004,1(1):157-173.
[139]Daniel B Lockhart, Lena H Ting. Optimal Sensorimotor Transformations for Balance[J].Nature Neuroscience,2007,(10):1329-1336.
[140]Schmidt R. A Schema Theory Of Discrete Motor Skill Learning[J]. Psychological Review,1975,(83):225-260.
[141]Zeltzer D. Motor Control Techniques For Figure Animation[J].IEEE Computer Graphics and Applications,1982,2(9):53-59.
[142]Kopp S.,Wachsmuth I.Model-based Animation of Coverbal Gesture[C].In Proceeding of Computer Animation,2002:252-260.
[143]Gibet S.,Kamp J.-F.,Poirier F.Gesture Analysis:Invariant Laws in Movement[C].In Gesture-Based Communication in Human-Computer Interaction,5th International Gesture Workshop, GW 2003,LNAI 2915,2004:1-9.
[144]Ahmet Erdemir, Scott McLean, Walter Herzog et al.Model-Based Estimation of Muscle Forces Exerted During Movements[J].Clinical Biomechanics, 2007,(22):131-154.
[145]Mole T. Boulic,R:Thalmann. Human Motion Capture Driven by Orientation Measurements[M].Premence,MIT,1999:187-203.
[146]黄波士,陈福民.人体运动捕捉及运动控制的研究[J].计算机工程与应用,2005(7)：60-63.
[147]耿卫东,陈为.计算机游戏程序设计[M].北京：电子工业出版社,2005.
[148]Chris Bregler. Motion Capture Technology for Entertainment[J].IEEE Signal Processing Magazine,2007,24(6):156-157,160.
[149]Carnegie Mellon University, mocap 动作捕捉数据库[EB/OL]. http://mocap.cs.cmu.edu,2008-10-01
[150]D.E. Whitney. Resolved Motion Rate Control of Manipulators and Human Prostheses[J].IEEE Transactions on Man-Machine Systems,1969,10(2):47-53.
[151]C.Klein, C.Huang. Review of Pseudoinverse Control for Use with Kinematically Redundant Manipulators[J].IEEE Transactions on Systems, Man and Cybernet,1983,13(3):245-250.
[152]Macro Spoerl.The Jacobian Transpose Method for Inverse Kinematics[C]. Game Programming Gems 4, Andrew Kirmse(eds), Charles River Media press，2004: 193-204.
[153]C.Welman. Inverse Kinematics and Geometric Constraints for Articulated Figure Manipulation[D].Simon Fraser University,1993.
[154]J. Zhao, N. I. Badler. Inverse Kinematics Positioning Using Nonlinear Programming for Highly Articulated Figures[J].ACM Transactions on Graphics,1994, 13(4):313-336.
[155]N. Badler, K. Manoochehri,G. Walters. Articulated Figure Positioning by Multiple Constraints[J].IEEE Computer Graphics and Applications,1987,7(6):28-38.
[156]Karim Abdel-Malek, Jingzhou Yang. Optimization-Based Inverse Kinematics of Articulated Linkages[C].Handbook of Digital Human Modeling, Taylor and Francis/CRC Press,2008.
[157]D Tolani, A Goswami, N Badler. Real-Time Inverse Kinematics Techniques for Anthropomorphic Limbs[J].Graphical Models,2000,62(5):353-388.
[158]Xiaomao Wu,Lizhuang Ma,Zhihua Chen,Yan Gao.A 12-DOF Analytic Inverse Kinematics Solver for Human Motion Control[J].Journal of Information & Computational Science,2004,1(1):137-141.
[159]Marcelo Kallmann. Analytical Inverse Kinematics with Body Posture Control[J].Computer Animation and Virtual Worlds,2007,19(2):79-91.
[160]Yahya Aydin,Masayuki Nakajima. Database Guided Computer Animation of Human Grasping Using Forward and Inverse Kinematics[J].Computers & Graphics, 1999,23(1):145-154.
[161]Marcelo Kallmann, Amaury Aubel, Tolga Abaci.Planning Collision-Free Reaching Motions for Interactive Object Manipulation and Grasping[C].In Proceedings of Eurographics,2003:313-322.
[162]Marcelo Kallmann. Scalable Solutions for Interactive Virtual Humans that can Manipulate Objects[C].In Proceedings of the Artificial Intelligence and Interactive Digital Entertainment (AIIDE), Marina del Rey,2005:69-74.
[163]Katsu Yamane, James J. Kuffner, Jessica K. Hodgins. Synthesizing Animations of Human Manipulation Tasks[J].ACM Transactions on Graphics,2004, 25(3):896-908.
[164]P. Baerlocher, R. Boulic. Parametrization and Range of Motion of the Ball-and-Socket Joint[C].In Proceedings of the DEFORM'2000 Workshop and AVATARS'2000 Workshop on Deformable Avatars, Lausanne,2000:180-190.
[165]Atkeson, C.,Hollerbach, J. Kinematic Features of Unrestrained Vertical Arm Movements[J].Journal of Neuroscience,1985,(9):318-330.
[166]Tolga Abaci. Object Manipulation and Grasping for Virtual Humans[D]. Swiss Federal Institute of Technology,2006.
[167]Marcelo Kallmann. STIK:Swing-Twist Inverse Kinematics[EB/OL]. http://graphics.ucmerced.edu/software.html,2008-12-01.
[168]Cal 3d[EB/OL].http://gna.org/projects/cal3d/,2009-01-01.
[169]Raanan Fattal, Dani Lischinski.Pose Controlled Physically-Based Motion[J]. Computer Graphics Forum,2006,25(4):777-787.
[170]Allen B.,Chu D.,Shapiro A et al.On the Beat!:Timing and Tension for Dynamic Characters[C].In Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation,2007:239-247.
[171]Katsu Yamane, Yoshihiko Nakamura. Natural Motion Animation through Constraining and Deconstraining at Will[J].IEEE Transactions on Visualization and Computer Graphics,2003,9(3):352-360.
[172]Paolo Baerlocher, Ronan Boulic.An Inverse Kinematics Architecture Enforcing an Arbitrary Number of Strict Priority Levels[J].The Visual Computer,2004, 20(6):402-417.
[173]Paolo Baerlocher. Inverse Kinematics Techniques for the Interactive Posture Control of Articulated Figures[D].Ecoles Polytechniques federale de Lausanne, Swiss Federal Institute of Technology,2001.
[174]Ronan Boulic 1,Benoit Le Callennec, Martin Herren et al. Experimenting Prioritized IK for Motion Editing[C].In Proceeding of EUROGRAPHICS,2003.
[175]Ronan Boulic, Benoit Le Callennec, Martin Herren et al.Motion Editing with Prioritized Constraints, In Proceeding of the 1st International Workshop on Interactive Rich Media Content Production-Architectures, Technologies, Lausanne, Switzerland,2003:139-147.
[176]Ronan Boulic, Javier Varona, Luis Unzueta et al. Real-Time IK Body Movement Recovery-from Partial;Vision Input[C].In Proceeding of the 2nd International Conference on Enactive Interfaces, Genoa, Italy,2005.
[177]Manuel Peinado, Bruno Herbelin, Marcelo Wanderley et al.Towards Configurable Motion Capture with Prioritized Inverse Kinematics[C].In Proceeding of the 3rd International Workshop on Virtual Rehabilitation, Lausanne, Switzerland,2004.
[178]Ronan Boulic, Manuel Peinado, Benoit Le Callennec. Challenges in Exploiting Prioritized Inverse Kinematics for Motion Capture and Postural Control[C]. Gesture in Human-Computer Interaction and Simulation, Berder Island, France,2006, LNCS 3881,2006:176-187.
[179]Benoit Le Callennec, Ronan Boulic. Interactive Motion Deformation with Prioritized Constraints[J].Graphical Models,2006,68(2):175-193.
[180]Benoit Le Callennec. Interactive Techniques for Motion Deformation of Articulated Figures Using Prioritized Constraints[D].Ecoles Polytechniques federale de Lausanne, Swiss Federal Institute of Technology,2006.
[181]Schubert R. Carvalho, Ronan Boulic, Daniel Thalmann. Interactive Low-Dimensional Human Motion Synthesis by Combining Motion Models and PIK[J]. Computer Animation and Virtual Worlds,2007,18(4,5):493-503.
[182]Daniel Raunhardt, Ronan Boulic. Motion Constraint[J].The Visual Computer,2009,25(5-7):509-518.
[183]Keith Grochow, Steven L. Martin, Aaron Hertzmann et al. Style-Based Inverse Kinematics[J].ACM Transactions on Graphics,2004,23(3):522-531.
[184]Xiaomao Wu, Lionel Reveret, Maxime Tournier. Interactive Character Posing from Large Motion Database[C].ACM SIGGRAPH/Eurographics Symposium on Computer Animation Poster Proceedings,2008:1-2.
[185]Matsunaga, M.,Zordan, V.B.A Dynamics-based Comparison Metric for Motion Graphs[C].In Computer Graphics International (CGI),2007.
[186]Jing-Wang, Bobby Bodenheimer. Synthesis and Evaluation of Linear Motion Transitions [J].ACM Transactions on Graphics,2008,27(1):1-15.
[187]Van Basten B.J.,Egges A. Evaluating Distance Metrics for Animation Blending[C].In Proceedings of the 4th International Conference on the Foundation of Digital Games,2009:199-206.
[188]Anthony A. Maciejewski, Charles A. Klein. Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments[J].the International Journal of Robotics Research,1985,4(3):109-117.
[189]E. Kokkevis.Practical Physics for Articulated Characters[R].Game Developers Conference,2004.
[190]Hyun Joon Shin, Jehee Lee, Sung Yong Shin. Computer Puppetry:An Importance-Based Approach[J].ACM Transactions on Graphics,2001,20(2):67-94.
[191]R. Kulpal,F.Multon, B.Arnaldi.Morphology-Independent Representation of Motions for Interactive Human-Like Animation[J].Computer Graphics Forum, Eurographics 2005 special issue,2005,24(3):343-351.
[192]R. Kulpa, F.Multon. Fast Inverse Kinematics and Kinetics Solver for Human-Like Figures[J].IEEE Humanoid Robots,2005,(12):38-43.
[193]Manfred Lau, James J. Kuffner. Behavior Planning for Character Animation[C].In Proceedings of the 2005 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, Los Angeles, California,2005:271-280.
[194]Bill Chiu, Victor Zordan, Chun-Chih Wu. State Annotated Motion Graph[C]. In Proceedings of the 2007 ACM Symposium on Virtual Reality Software and Technology, Newport Beach, California,2007:73-76.
[195]Jehee Lee, Kang Hoon Lee.Precomputing Avatar Behavior from Human Motion Data[J].Graphical Models,2006,68(2):158-174.
[196]Manfred Lau, James J. Kuffner. Precomputed Search Trees:Planning for Interactive Goal-Driven Animation[C].In Proceedings of the 2006 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, Vienna, Austria,2006: 299-308.
[197]Sang Il Park, Hyun Joon Shin, Tae Hoon Kim. On-Line Motion Blending for Real-Time Locomotion Generation[J].Computer Animation and Virtual Worlds,2004, 15(3,4):125-138.
[198]Alla Safonova, Jessica K. Hodgins.Construction and Optimal Search of Interpolated Motion Graphs[J].ACM Transactions on Graphics,2007,26(3),Article No. 106:1-11.
[199]Jen-Yu Peng, I-Chen Lin, Jui-Hsiang Chao. Interactive and Flexible Motion Transition[J].Computer Animation and Virtual Worlds,2007,18(4,5):549-558.
[200]Adrien Treuille, Yongjoon Lee, Zoran Popovic. Near-Optimal Character Animation with Continuous Control[J].ACM Transactions on Graphics,2007,26(3), Article No.7:1-7.
[201]Seth Cooper, Aaron Hertzmann, Zoran Popovic. Active Learning for Real-Time Motion Controllers[J].ACM Transactions on Graphics,2007,26(3),Article No.5:1-7.
[202]James McCann, Nancy Pollard. Responsive Characters from Motion Fragments[J].ACM Transactions on Graphics,2007,26(3),Article No.6:1-7.
[203]Okan Arikan, David A. Forsyth, James F.O'Brien. Pushing People Around[C].In Eurographics/SIGGRAPH Symposium on Computer Animation,2005: 59-66.
[204]KangKang Yin, Dinesh K. Pai, Michiel van de Panne. Data-Driven Interactive Balancing Behaviors[C].In Pacific Graphics,2005:118-121.
[205]Taku Komura, Edmond S.L.Ho, Rynson W. H. Lau. Animating Reactive Motion Using Momentum-Based Inverse Kinematics[J].Journal of Visualization and Computer Animation,2005,16(1):213-223.
[206]Zoran Popovic, Andrew Witkin. Physically Based Motion Transformation[C].In Proceedings of the 26th Annual Conference on Computer Graphics and Interactive Techniques,1999:11-20.
[207]Anthony C.Fang, Nancy S.Pollard. Efficient Synthesis of Physically Valid Human Motion[J].ACM Transactions on Graphics,2003,22(3):417-426.
[208]Adnan Sulejmanpasic, Jovan Popovic. Adaptation of Performed Ballistic Motion[J].ACM Transactions on Graphics,2005,24(1):165-179.
[209]Yeuhi Abe, C.Karen Liu, Zoran Popovic. Momentum-based Parameterization of Dynamic Character Motion[J].Graphical Models,2006,68(2): 194-211.
[210]Alla Safonova, Jessica K. Hodgins, Nancy S.Pollard. Synthesizing Physically Realistic Human Motion in Low-Dimensional, Behavior-Specific Spaces[J]. ACM Transactions on Graphics,2004,23(3):514-521.
[211]C.Karen Liu, Aaron Hertzmann, Zoran Popovic.Learning Physics-Based Motion Style with Nonlinear Inverse Optimization[J].ACM Transactions on Graphics 2005,24(3):1071-1081.
[212]Jinxiang Chai,Jessica K. Hodgins.Constraint-based Motion Optimization Using A Statistical Dynamic Model[J].ACM Transactions on Graphics,2007,26(3), Article No.8:1-9.
[213]Sumit Jain, Yuting Ye, C. Karen Liu. Optimization-based Interactive Motion Synthesis[J].ACM Transaction on Graphics,2009,28(1),Article No.10:1-12.
[214]Hyun Joon Shin, Lucas Kovar, Michael Gleicher. Physical Touch-up of Human Motions[C].In Proceedings of Pacific Graphics,2003:194-203.
[215]Seyoon Tak, Oh-young Song, Hyeong-Seok Ko. Spacetime Sweeping:An Interactive Dynamic Constraints Solver[C].In Proceedings of the Computer Animation, 2002:261-270.
[216]Seyoon Tak, Oh-young Song, Hyeong-Seok Ko. Motion Balance Filtering[J]. Computer Graphics Forum,2000,19(3):437-446.
[217]Katsu Yamane, Yoshihiko Nakamura. Dynamics Filter-Concept and Implementation of Online Motion Generator for Human Figures[J].IEEE Transactions on Robotics and Automation,2003,19(3):421-432.
[218]Nancy S.Pollard, Paul S.A. Reitsma. Animation of Humanlike Characters: Dynamic Motion Filtering with a Physically Plausible Contact Model[C].In Yale Workshop on-Adaptive and Learning Systems,2001.
[219]Seyoon Tak, Hyeong-Seok Ko. A Physically-Based Motion Retargeting Filter[J].ACM Transactions on Graphics,2005,24(1):98-117.
[220]Oshita M.,Makinouchi A. A Dynamic Motion Control Technique for Human-Like Articulated Figures[J].Computer Graphics Forum,2001,20(3):192-203.
[221]Victor B.Zordan, Jessica K, Hodgins:Tracking and Modifying Upper-body Human Motion Data with Dynamic Simulation[C].In Proceedings of Computer Animation and Simulation 99,1999:13-22.
[222]Victor B.Zordan. Motion Capture-Driven Simulations that Hit and React[D]. College of Computing, Georgia Institute of Technology,2002.
[223]Pawel Wrotek, Odest Chadwicke Jenkins, Morgan McGuire. Dynamo: Dynamic Data-Driven Character Control with Adjustable Balance[C].In Proceedings of the ACM SIGGRAPH Video Games Symposium,2006:61-70.
[224]KangKang Yin, Michael B.Cline, Dinesh K. Pai. Motion Perturbation Based on Simple Neuromotor Control Models[C].In Proceedings of the 11th Pacific Conference on Computer Graphics and Applications,2003:445-449.
[225]Yeuhi Abe, Jovan Popovic. Interactive Animation of Dynamic Manipulation[C].In Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation,2006:195-204.
[226]Yeuhi Abe, Marco da Silva, Jovan Popovic. Multiobjective Control with Frictional Contacts[C].In Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation,2007:249-258.
[227]Adriano Macchietto, Victor Zordan,Christian R. Shelton. Momentum Control for Balance[C].In Proceedings of the ACM SIGGRAPH/Eurographics symposium on Computer Animation,2009:249-258.
[228]KangKang Yin, Kevin Loken, Michiel van de Panne. Simbicon:Simple Biped Locomotion Control[J].ACM Transactions on Graphics,2007,26(3),Article No. 105:1-10.
[229]Kwang Won Sok, Manmyung Kim, Jehee Lee. Simulating Biped Behaviors From Human Motion Data[J].ACM Transactions on Graphics 2007,26(3),Article No. 107:1-9.
[230]Michael Mandel.Versatile and Interactive Virtual Humans:Hybrid Use of Data-Driven and Dynamics-Based Motion Synthesis[D].Carnegie Mellon University, 2004.
[231]Victor B.Zordan, Anna Majkowska, Bill Chiu, Matthew Fast. Dynamic Response for Motion Capture Animation[C].In Proceedings of ACM SIGGRAPH, 2005:697-701.
[232]Ari Shapiro, Fred Pighin. Hybrid Control for Interactive Character Animation[C].In Proceedings of the 11th Pacific Conference on Computer Graphics and Applications,2003:456-461.
[233]Ronald Metoyer, Victor Zordan, Benjamin Hermens et al.Psychologically Inspired Anticipation and Dynamic Response for Impacts to the Head and Upper Body[J].IEEE Transactions on Visualization and Computer Graphics,2008,14(1): 173-185.
[234]Marco da Silva, Yeuhi Abe, Jovan Popovic. Simulation of Human Motion Data Using Short-Horizon Model-Predictive Control[J].Computer Graphics Forum, 2008,27(2):371-380.
[235]Marco da Silva, Yeuhi Abe, Jovan Popovic. Interactive Simulation of Stylized Human Locomotion[J].ACM Transactions on Graphics,2008,27(3), Article No.82:1-10.
[236]Kudoh, S.,Komura, T.,Ikeuchi, K. Stepping Motion for a Humanlike Character to Maintain Balance Against Large Perturbations[C].In Proceedings of the IEEE International Conference in Robotics and Automation,2006:2661-2666.
[237]Yuting Ye, C.Karen Liu. Animating Responsive Characters with Dynamic Constraints in Near-Unactuated Coordinates[J].ACM Transactions on Graphics,2008, 27(5),Article No.112:1-5.
[238]Bruno Siciliano, Jean-Jacques E. Slotine. A General Framework for Managing Multiple Tasks in Highly Redundant Robotic Systems[C].In Proceedings of International Conference on Advanced Robotics,1991:1211-1216.
[239]Luis Sentis, Oussama Khatib.Synthesis of Whole-Body Behaviors Through Hierarchical Control of Behavioral Primitives[J].International Journal of Humanoid Robotics,2005,2(4):505-518.
[240]Luis Sentis,Oussama Khatib.A Whole-Body Control Framework for Humanoids Operating in Human Environments[C].In Proceedings of the IEEE International Conference in Robotics and Automation,2006:2641-2648.
[241]Luis Sentis.Synthesis and Control of Whole-Body Behaviors in Humanoid Systems[D].Stanford University,2007.
[242]Jun Nakanishi, Rick Cory, Michael Mistry, Jan Peters, Stefan Schaal. Operational Space Control:A Theoretical and Empirical Comparison[J].The International Journal of Robotics Research,2008,27(6):737-757.
[243]Ronan Boulic, Ramon Mas,Daniel Thalmann. A Robust Approach for the Center of Mass Position Control with Inverse Kinetics[J].Journal of Computers and Graphics,1996,20(5):693-701.
[244]Jun Nakanishi, Michael Mistry,Stefan Schaal. Inverse Dynamics Control with Floating Base and Constraints[C].In Proceedings of the IEEE International Conference on Robotics and Automation,2007:10-14.
[245]Ari Shapiro, Petros Faloutsos. Dynamic Animation and Control Environment[C].In Proceeding of Graphics Interface2005,Victoria, British Columbia, Canada,20.05:61-70.
[246]A.Shapiro, D.Chu, B.Allen, P.Faloutsos. A Dynamic Controller Toolkit[C]. The 2nd Annual ACM SIGGRAPH Sandbox Symposium on Videogames, San Diego, CA,2007.
[247]Russell Smith. Open Dynamics Engine[EB/OL].http://www.ode.org, 2008-10-01.
[248]Philip E. Gill, Walter Murray, Michael A. Saunders.SNOPT:An SQP Algorithm for Large-Scale Constrained Optimization[J].Society for Industrial and Applied Mathematics,2005,47(1):99-131.
[249]叶洪涛.Poser基础教程[M].北京：清华大学出版社,2005.
[250]王乘,李利军,周均清.Vega实时三维视景仿真技术[M].武汉：华中科技大学出版社,2005.
[251]王乘,周均清,李利军.Creator可视化仿真建模技术[M].武汉：华中科技大学出版社,2005.
[252]李向阳,黄先祥,龙勇等.基于HLA的地地导弹操作训练仿真系统设计[J].系统仿真学报,2008,20(21)：5821-5824.
[253]张玉祥,沙寒.导弹动力系统操作训练虚拟仿真器的设计[J].弹箭与制导学报,2008,28(3)：290-292.
[254]马立元.大型复杂装备虚拟操作训练系统设计方法研究[D].南京：南京理工大学,2006.
[255]P.S.A. Reitsma, N. S.Pollard. Perceptual Metrics for Character Animation:Sensitivity to Errors in Ballistic Motion[J].ACM Transactions on Graphics, 2003,22(3):537-542.
[256]Safonova, A.,Hodgins, J. K. Analyzing the Physical Correctness of Interpolated Human Motion[C].In Proceedings of the ACM/Eurographics SIGGRAPH Symposium on Computer Animation,2005:171-180.
[257]Liu Ren, Alton Patrick, Alexei A. Efros. A Data-Driven Approach to Quantifying Natural Human Motion[J].ACM Transactions on Graphics,2005,24(3): 1090-1097.
[258]Ikemoto L.,Arikan O.,Forsyth D. Quick Transitions with Cached Multi-Way Blends[C].In Proceedings of the 2007 Symposium on Interactive 3D Graphics and Games,2007:145-151.