CSC 2521 Calendar

Note: the schedule is subject to change.
DayTopicReadings
Tue, Sep 12    No class  
Tue, Sep 19    Introduction and basic mechanics
Tue, Sep 26    Oscillations, Calculus of Variations, Lagrangian Mechanics
  • Marion and Thornton, Chapters 3.1-3.5, 6, 7.1-7.6
Tue, Oct 3    Dynamics of particle systems, Rigid-Body Mechanics
  • Marion and Thornton, Chapters 9.1-9.5, 11.1-11.4
Tue, Oct 10    Inertia Tensor Transformations; Muscles, Reaching, and Handling
  • Marion and Thornton, Chapters 11.5-11.7
  • Muscle Modeling chapter [Midori]
  • R. M. Alexander, The Human Machine, "Reaching" [Jack]
  • R. M. Alexander, The Human Machine, "Handling" [Sami]
Tue, Oct 17    Locomotion and optimality
Discussion questions
  • S. H. Collins, A. L. Ruina, R. Tedrake, M. Wisse, Efficient bipedal robots based on passive-dynamic Walkers, Science, 307: 1082-1085, 2005 [web] [Graham]
    R. M. Alexander. Walking Made Simple. Science (Perspectives). 2005. [paper] [enhanced web version]
    Background: T. McGeer. Passive Dynamic Walking. IJRR 1990. [paper] [video]
  • M. H. Dickinson, C. T. Farley, R. J. Full, M. A. R. Koehl, R. Kram, S. Lehman. How Animals Move: An Integrative View. Science (2000). [paper]
    R. J. Full, D. E. Koditschek. Templates and Anchors: Neuromechanical Hypotheses of Legged Locomotion on Land. J. Exp. Biology. 202:3325-3332 (1999). [paper][Martin]
  • R. M. Alexander. Design By Numbers. Nature. Aug 9, 2001 [web] [paper][Ben]
    W. J. Sutherland. The best solution. Nature. June 2, 2005. [paper]
    Background: S. J. Gould, R. C. Lewontin. The Spandrels of San Marco and the Panglossian Paradigm: A Critique of the Adaptationist Programme. Proc. Royal Society London B, 1979. [paper]
  • M. Srinivasan and A. Ruina, Computer Optimization of a Minimal Biped Model Discovers Walking and Running. Nature Online. [web] [Hossein]
Tue, Oct 24    Locomotion and optimality
  • K. Sims. Evolving Virtual Creatures. SIGGRAPH 1994. [web] [Sami]
  • A. Witkin, M. Kass. Spacetime constraints. SIGGRAPH 1988 [paper] [video] [Jack]
  • J.-C. Wu and Z. Popović. Realistic Modeling of Bird Flight Animations. SIGGRAPH 2003 [web] [Hossein]
  • C. K. Liu, A. Hertzmann, Z. Popović. Learning Physics-Based Motion Style with Nonlinear Inverse Optimization. SIGGRAPH 2005. [web] [Aaron]
Tue, Oct 31    Motion editing
  • Z. Popović, A. Witkin. Physically-Based Motion Transformation. SIGGRAPH 99 [web] [Midori]
  • Y. Abe, C. K. Liu, Z. Popović. Momentum-Based Parameterization of Dynamic Character Motion. SCA 2004. [web]
    H. J. Shin, L, Kovar, M. Gleicher. Physical Touchup of Human Motions. Pacific Graphics 03. [web] [Martin]
  • J. McCann, N. S. Pollard, S. Srinivasa. Physics-Based Motion Retiming. SCA 2006. [paper] [Graham]
  • Y. Abe, J. Popović. Interactive Animation of Dynamic Manipulation. SCA 2006 [paper] [video] [Ben]
Tue, Nov 7    Control
  • J. L. Hodgins, W. L. Wooten, D. C. Brogan, J. F. O'Brien. Animating Human Athletics. SIGGRAPH 95. [paper] [Sami]
  • R. Grzeszczuk, D. Terzopoulos, G. Hinton. NeuroAnimator: Fast Neural Network Emulation and Control of Physics-Based Models. SIGGRAPH 98. [web] [Graham]
  • G. Lawrence, N. Cowan, S. Russell, Efficient Gradient Estimation for Motor Control Learning. UAI-03. [paper], [videos] [Aaron: policy gradient tutorial]
  • C. Harris and D. Wolpert. Signal-dependent noise determines motor planning. Nature, 394:780-784, 1998. [paper] [commentary paper] [Midori]
Tue, Nov 14    Control and planning
  • K. P. Körding, D. Wolpert. Bayesian Integration in Sensorimotor Learning, Nature 427:244-247 (2004) [paper] [Hossein]
  • E. Todorov, Z. Ghahramani. Unsupervised Learning of Sensory-Motor Primitives. Proc. EMBS 2003. [paper] [Martin]
  • E. Todorov, M. I. Jordan. Optimal feedback control as a theory of motor coordination. Nature Neuroscience. [paper] [Ben]
  • S.M. LaValle and J.J. Kuffner. Randomized Kinodynamic Planning. Int. Journal or Robotics Research. Vol 5, No. 8. May 2001. [web] [RRT page 1] [RRT page 2] [Jack]
Tue, Nov 21    Planning and interfaces
  • L.E. Kavraki, P. Svestka, J.C. Latombe, M.H. Overmars. Probabilistic roadmaps for path planning in high-dimensional configuration spaces. Trans. Robotics and Automation. 1992. [web] [Hossein]
  • J. J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, H. Inoue. Motion Planning for Humanoid Robots. ISRR 2003 [paper] [Martin]
  • K. Yamane, J. J. Kuffner, J. K. Hodgins. Synthesizing Animations of Human Manipulation Tasks. SIGGRAPH 2004. [web] [Jack]
  • P. Zhao, M. van de Panne. User Interfaces for Interactive Control of Physics-Based 3D Characters. I3D 2005. [paper] [Graham]
Tue, Nov 28    Muscles and capture; wrap-up.
  • J. Laszlo, M. Neff, K. Singh. Predictive Feedback for Interactive Control of Physics-based Characters. EG 2005. [paper] [Ben]
  • P. G. Kry and D. K. Pai. Interaction Capture and Synthesis. SIGGRAPH 06. [web] [Sami]
  • E. Sifakis, A. Selle, A. Robinson-Mosher, R. Fedkiw, Simulating Speech with a Physics-Based Facial Muscle Model. SCA 2006 [paper] [Midori]
    Background: E. Sifakis, I. Neverov, and R. Fedkiw. Automatic Determination of Facial Muscle Activations from Sparse Motion Capture Marker Data. SIGGRAPH 05. [paper]
Tue, Dec 5    No class