The Visual Computer

, Volume 31, Issue 6–8, pp 883–891 | Cite as

Human motion control with physically plausible foot contact models

  • Jongmin Kim
  • Hwangpil Park
  • Jehee Lee
  • Taesoo Kwon
Original Article


The foot-to-ground contact model plays an important role in the simulation of highly dynamic motions, such as turns and kicks. In this paper, we propose a method for solving dynamically cumbersome slipping contact problems, which are frequently observed in highly dynamic motions. We employ and modify a combination of two different types of cones representing the inequality constraints of a contact model: the friction cone and the velocity cone. The friction cone makes character animation physically plausible while the velocity cone allows a character to perform a sharp turn without foot-to-ground penetration. Our system effectively simulates human behavior using an inverted pendulum on a cart (IPC) model and motion capture data. In the pre-processing step, we analyze motion capture data to extract meaningful information for the IPC model. At run-time, our system produces a physically simulated character by tracking the desired motion that is predicted by the IPC model. We formulate human motion control as a quadratic programming satisfying the proposed foot-to-ground contact constraints. Our examples show that the proposed system can produce physically plausible character animation without noticeable foot-to-ground contact artifacts.


Physics-based simulation Character animation Data-driven animation 



We thank to the anonymous reviewers for their helpful comments. This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT and Future Planning (MSIP) (NRF-2014R1A1A1038386).

Supplementary material

Supplementary material 1 (mp4 45609 KB)


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Copyright information

© Springer-Verlag Berlin Heidelberg 2015

Authors and Affiliations

  1. 1.Division of Computer Science and SoftwareHanyang UniversitySeoulRepublic of Korea
  2. 2.Department of Computer Science and EngineeringSeoul National UniversitySeoulRepublic of Korea

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